Public Member Functions | Protected Member Functions
BoundingBoxRaw Class Reference

A BoundingBoxRaw descriptor to compute the dimensions of the bounding box that encloses a neighborhood of points within a radius of the interest point/region. More...

#include <bounding_box_raw.h>

Inheritance diagram for BoundingBoxRaw:
Inheritance graph
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List of all members.

Public Member Functions

 BoundingBoxRaw (double bbox_radius)
 Instantiates the bounding box feature with the specified radius to define the neighborhood.
virtual void clearShared ()
 This descriptor uses no shared precomputation, so this method has no affect.
std::string getName () const
 Returns a name that is unique for any given setting of the parameters.

Protected Member Functions

virtual void computeNeighborhoodFeature (const sensor_msgs::PointCloud &data, const std::vector< int > &neighbor_indices, const unsigned int interest_sample_idx, std::vector< float > &result) const
 Computes the bounding box information of the given neighborhood.
virtual int precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts)
 This descriptor requires no pre-computation, so this method has no affect.
virtual int precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices)
 This descriptor requires no pre-computation, so this method has no affect.

Detailed Description

A BoundingBoxRaw descriptor to compute the dimensions of the bounding box that encloses a neighborhood of points within a radius of the interest point/region.

The compute features are in order: [dx,dy,dz] where dx is the length along the x dimension, dy is the length along the y dimension, dz is the length along the z dimension.

Definition at line 68 of file bounding_box_raw.h.


Constructor & Destructor Documentation

BoundingBoxRaw::BoundingBoxRaw ( double  bbox_radius)

Instantiates the bounding box feature with the specified radius to define the neighborhood.

When computing the feature for an interest region of points, the bounding box can either be the box that encloses the given region of points (indicated by -negative value), or from the neighboring points within the specified radius from the region's centroid (indicated by positive value).

Parameters:
bbox_radiusThe radius from the interest point/region to define the neighborhood that defines the bounding box

Definition at line 42 of file bounding_box_raw.cpp.


Member Function Documentation

void BoundingBoxRaw::clearShared ( ) [virtual]

This descriptor uses no shared precomputation, so this method has no affect.

Implements Descriptor3D.

Definition at line 56 of file bounding_box_raw.cpp.

void BoundingBoxRaw::computeNeighborhoodFeature ( const sensor_msgs::PointCloud data,
const std::vector< int > &  neighbor_indices,
const unsigned int  interest_sample_idx,
std::vector< float > &  result 
) const [protected, virtual]

Computes the bounding box information of the given neighborhood.

Parameters:
dataThe overall point cloud data
neighbor_indicesThe list of indices in data that constitute the neighborhood
interest_sample_idxThe index of the interest point/region that is being processed from Descriptor3D::compute()
resultThe vector to hold the computed bounding box dimensions

Implements NeighborhoodFeature.

Definition at line 94 of file bounding_box_raw.cpp.

std::string BoundingBoxRaw::getName ( void  ) const [virtual]

Returns a name that is unique for any given setting of the parameters.

Implements Descriptor3D.

Definition at line 63 of file bounding_box_raw.cpp.

int BoundingBoxRaw::precompute ( const sensor_msgs::PointCloud data,
cloud_kdtree::KdTree &  data_kdtree,
const std::vector< const geometry_msgs::Point32 * > &  interest_pts 
) [protected, virtual]

This descriptor requires no pre-computation, so this method has no affect.

Returns:
0 always

Implements Descriptor3D.

Definition at line 74 of file bounding_box_raw.cpp.

int BoundingBoxRaw::precompute ( const sensor_msgs::PointCloud data,
cloud_kdtree::KdTree &  data_kdtree,
const std::vector< const std::vector< int > * > &  interest_region_indices 
) [protected, virtual]

This descriptor requires no pre-computation, so this method has no affect.

Returns:
0 always

Implements Descriptor3D.

Definition at line 84 of file bounding_box_raw.cpp.


The documentation for this class was generated from the following files:


ias_descriptors_3d
Author(s): Daniel Munoz/ dmunoz@willowgarage.com, Dejan Pangercic (patched version)
autogenerated on Mon Oct 6 2014 08:48:26