IRI ROS Specific Driver Class. More...

#include <normal_descriptor_alg.h>

Public Types
typedef normal_descriptor_node::NormalDescriptorConfig	Config
	define config type
Public Member Functions
normal_descriptor_node::ndesc	compute_descriptor_one_spatial_rot_inv (pcl::PointCloud< pcl::PointXYZ > &cloud, pcl::PointCloud< pcl::PointXY > &pcl_spherical, uint u, uint v)
void	compute_descriptor_spatial_rot_inv (pcl::PointCloud< pcl::PointXYZ > &cloud, normal_descriptor_node::ndesc_pc &ndesc_pc_msg)
void	compute_ndescs_integral_spatial (pcl::PointCloud< pcl::PointXYZ > &cloud, normal_descriptor_node::ndesc_pc &ndesc_pc_msg)
	compute all descriptors with spatial bin support of image using an integral image
int	compute_total_bins ()
	Set total descriptor bins.
void	config_update (const Config &new_cfg, uint32_t level=0)
	config update
void	lock (void)
	Lock Algorithm.
	NormalDescriptorAlgorithm ()
	constructor
int	set_desc_patch_radius (int r)
	Set patch radius.
uint	set_num_orientation_bins (uint nb)
	Set number of orientation bins.
int	set_num_side_spatial_bins (int nb)
	Set number of spatial bins (side)
int	set_sample_each (int s)
	Set sample each.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~NormalDescriptorAlgorithm ()
	compute heat/wrinkledness map
Public Attributes
Config	config_
	config variable
Protected Member Functions
void	compute_spherical_coords (pcl::PointCloud< pcl::Normal > &pcl_normal, pcl::PointCloud< pcl::PointXY > &pcl_spherical)
	compute spherical coordinates
Protected Attributes
CMutex	alg_mutex_
	define config type
uint	desc_num_orient_bins_
uint	desc_num_side_spatial_bins_
uint	desc_num_total_bins_
uint	desc_patch_radius_
uint	margin_
uint	nt_
std::vector< float >	orient_bin_boundsX_
std::vector< float >	orient_bin_boundsY_
uint	sample_each_

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 57 of file normal_descriptor_alg.h.

Member Typedef Documentation

typedef normal_descriptor_node::NormalDescriptorConfig NormalDescriptorAlgorithm::Config

define config type

Define a Config type with the NormalDescriptorConfig. All driver implementations will then use the same variable type Config.

Definition at line 128 of file normal_descriptor_alg.h.

Constructor & Destructor Documentation

NormalDescriptorAlgorithm::NormalDescriptorAlgorithm ( )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 29 of file normal_descriptor_alg.cpp.

NormalDescriptorAlgorithm::~NormalDescriptorAlgorithm ( )

compute heat/wrinkledness map

Compute a wrinkledness map from the entropy descriptors Destructor

This destructor is called when the object is about to be destroyed.

Definition at line 51 of file normal_descriptor_alg.cpp.

Member Function Documentation

normal_descriptor_node::ndesc NormalDescriptorAlgorithm::compute_descriptor_one_spatial_rot_inv	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		pcl::PointCloud< pcl::PointXY > &	pcl_spherical,
		uint	u,
		uint	v
	)

Definition at line 362 of file normal_descriptor_alg.cpp.

void NormalDescriptorAlgorithm::compute_descriptor_spatial_rot_inv	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		normal_descriptor_node::ndesc_pc &	ndesc_pc_msg
	)

Definition at line 328 of file normal_descriptor_alg.cpp.

void NormalDescriptorAlgorithm::compute_ndescs_integral_spatial	(	pcl::PointCloud< pcl::PointXYZ > &	cloud,
		normal_descriptor_node::ndesc_pc &	ndesc_pc_msg
	)

compute all descriptors with spatial bin support of image using an integral image

Main interface to compute normal descriptors with spatial support from a point cloud

Definition at line 185 of file normal_descriptor_alg.cpp.

void NormalDescriptorAlgorithm::compute_spherical_coords	(	pcl::PointCloud< pcl::Normal > &	pcl_normal,
		pcl::PointCloud< pcl::PointXY > &	pcl_spherical
	)		`[protected]`

compute spherical coordinates

Takes a "normals" point cloud and computes the azimuth and inclination angles of the spherical coordinates (magnitude not possible since the normal is normalized). The angles are passed as a PointXY point cloud, being X the azimuth and Y the inclination (check!).

Definition at line 84 of file normal_descriptor_alg.cpp.

int NormalDescriptorAlgorithm::compute_total_bins ( ) [inline]

Set total descriptor bins.

Given the current parameters, this function computes the total number of bins of the descriptor.

Definition at line 193 of file normal_descriptor_alg.h.

void NormalDescriptorAlgorithm::config_update	(	const Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters: