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

A Curvature descriptor computes the local curvature around an intersest point/region. More...

#include <curvature.h>

Inheritance diagram for Curvature:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void clearShared ()
 Clears any already-computed spectral information.
 Curvature (SpectralAnalysis &spectral_information)
 Instantiates the curvature descriptor to use the given spectral information.
std::string getName () const
 Returns a string that is unique for the current param settings.

Protected Member Functions

virtual void computeCurvature (const unsigned int interest_sample_idx, std::vector< float > &result) const
 Computes local curvature feature for the specified interest point/region.
virtual void doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts, std::vector< std::vector< float > > &results)
 Computes the local curvature around each interest point.
virtual void doComputation (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices, std::vector< std::vector< float > > &results)
 Computes the local curvature around/for each interest region.
virtual int precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts)
 Computes/retrieves the eigenvalues for each interest point.
virtual int precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const std::vector< int > * > &interest_region_indices)
 Computes/retrieves the eigenvalues for each interest region.

Private Attributes

const std::vector< const
Eigen3::Vector3d * > * 
eig_vals_
 The eigenvalues for each interest point/region to be processed.
SpectralAnalysisspectral_information_

Detailed Description

A Curvature descriptor computes the local curvature around an intersest point/region.

The feature value is / ( + + ) where are the 3 eigenvalues such that < <

Definition at line 64 of file curvature.h.


Constructor & Destructor Documentation

Curvature::Curvature ( SpectralAnalysis spectral_information)

Instantiates the curvature descriptor to use the given spectral information.

Parameters:
spectral_informationClass to retrieve the eigenvalues from

Definition at line 42 of file curvature.cpp.


Member Function Documentation

void Curvature::clearShared ( ) [virtual]

Clears any already-computed spectral information.

Implements Descriptor3D.

Definition at line 54 of file curvature.cpp.

void Curvature::computeCurvature ( const unsigned int  interest_sample_idx,
std::vector< float > &  result 
) const [protected, virtual]

Computes local curvature feature for the specified interest point/region.

Definition at line 168 of file curvature.cpp.

void Curvature::doComputation ( const sensor_msgs::PointCloud data,
cloud_kdtree::KdTree &  data_kdtree,
const std::vector< const geometry_msgs::Point32 * > &  interest_pts,
std::vector< std::vector< float > > &  results 
) [protected, virtual]

Computes the local curvature around each interest point.

See also:
Descriptor3D::compute

Implements Descriptor3D.

Definition at line 131 of file curvature.cpp.

void Curvature::doComputation ( const sensor_msgs::PointCloud data,
cloud_kdtree::KdTree &  data_kdtree,
const std::vector< const std::vector< int > * > &  interest_region_indices,
std::vector< std::vector< float > > &  results 
) [protected, virtual]

Computes the local curvature around/for each interest region.

See also:
Descriptor3D::compute

Implements Descriptor3D.

Definition at line 149 of file curvature.cpp.

std::string Curvature::getName ( ) const [virtual]

Returns a string that is unique for the current param settings.

Returns:
the name of this feature.

Implements Descriptor3D.

Definition at line 62 of file curvature.cpp.

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

Computes/retrieves the eigenvalues for each interest point.

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 70 of file curvature.cpp.

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

Computes/retrieves the eigenvalues for each interest region.

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 100 of file curvature.cpp.


Member Data Documentation

const std::vector<const Eigen3::Vector3d*>* Curvature::eig_vals_ [private]

The eigenvalues for each interest point/region to be processed.

Definition at line 151 of file curvature.h.

Definition at line 153 of file curvature.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