Public Member Functions | Protected Member Functions | Private Attributes
BoundingBoxSpectral Class Reference

A BoundingBoxSpectral descriptor to compute the dimensions of the bounding box in principle component space that encloses a neighborhood of points within a radius of the interest point/region. More...

#include <bounding_box_spectral.h>

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

Public Member Functions

 BoundingBoxSpectral (double bbox_radius, SpectralAnalysis &spectral_information)
 Instantiates the bounding box feature with the specified radius to define the neighborhood and spectral information.
virtual void clearShared ()
 Clears any already-computed spectral information.
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
 Projects the given neighborhood in principle component space and then computes its bounding box.
virtual int precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts)
 Computes the spectral information (eigenvectors), necessary to project the points into principle component space.
virtual int precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices)
 Computes the spectral information (eigenvectors), necessary to project the points into principle component space.

Private Attributes

const std::vector< const
Eigen3::Vector3d * > * 
eig_vecs_max_
 The biggest eigenvector for each interest point/region.
const std::vector< const
Eigen3::Vector3d * > * 
eig_vecs_mid_
 The middle eigenvector for each interest point/region.
const std::vector< const
Eigen3::Vector3d * > * 
eig_vecs_min_
 The smallest eigenvector for each interest point/region.
SpectralAnalysisspectral_information_
 The container the holds spectral information for the point cloud.

Detailed Description

A BoundingBoxSpectral descriptor to compute the dimensions of the bounding box in principle component space that encloses a neighborhood of points within a radius of the interest point/region.

The compute features are in order: [a,b,c] where a is the length along the principle eigenvector, b is the length along the middle eigenvector, and c is the length along the smallest eigenvector.

Definition at line 70 of file bounding_box_spectral.h.


Constructor & Destructor Documentation

BoundingBoxSpectral::BoundingBoxSpectral ( double  bbox_radius,
SpectralAnalysis spectral_information 
)

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

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
spectral_informationClass to retrieve spectral information for the point cloud during Descriptor3D::compute()

Definition at line 42 of file bounding_box_spectral.cpp.


Member Function Documentation

Clears any already-computed spectral information.

Implements Descriptor3D.

Definition at line 59 of file bounding_box_spectral.cpp.

void BoundingBoxSpectral::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]

Projects the given neighborhood in principle component space and then computes its bounding box.

Parameters:
dataThe point cloud to process from Descriptor3D::compute()
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 148 of file bounding_box_spectral.cpp.

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

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

Implements Descriptor3D.

Definition at line 67 of file bounding_box_spectral.cpp.

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

Computes the spectral information (eigenvectors), necessary to project the points into principle component space.

Parameters:
dataThe point cloud to process from Descriptor3D::compute()
data_kdtreeThe efficient neighborhood data structure
interest_ptsThe list of interest points to be processed
Returns:
0 on success, otherwise negative value on error

Implements Descriptor3D.

Definition at line 78 of file bounding_box_spectral.cpp.

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

Computes the spectral information (eigenvectors), necessary to project the points into principle component space.

Parameters:
dataThe point cloud to process from Descriptor3D::compute()
data_kdtreeThe efficient neighborhood data structure
interest_ptsThe list of interest regions to be processed
Returns:
0 on success, otherwise negative value on error

Implements Descriptor3D.

Definition at line 112 of file bounding_box_spectral.cpp.


Member Data Documentation

const std::vector<const Eigen3::Vector3d*>* BoundingBoxSpectral::eig_vecs_max_ [private]

The biggest eigenvector for each interest point/region.

Definition at line 166 of file bounding_box_spectral.h.

const std::vector<const Eigen3::Vector3d*>* BoundingBoxSpectral::eig_vecs_mid_ [private]

The middle eigenvector for each interest point/region.

Definition at line 163 of file bounding_box_spectral.h.

const std::vector<const Eigen3::Vector3d*>* BoundingBoxSpectral::eig_vecs_min_ [private]

The smallest eigenvector for each interest point/region.

Definition at line 160 of file bounding_box_spectral.h.

The container the holds spectral information for the point cloud.

Definition at line 169 of file bounding_box_spectral.h.


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