Curvature Class Reference

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

#include <curvature.h>

Inheritance diagram for Curvature:

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.
SpectralAnalysis *	spectral_information_

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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.

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Constructor & Destructor Documentation

Curvature::Curvature

(

SpectralAnalysis &

spectral_information

)

Instantiates the curvature descriptor to use the given spectral information.

Parameters:

spectral_information

Class to retrieve the eigenvalues from

Definition at line 42 of file curvature.cpp.

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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:

data	The point cloud to process from Descriptor3D::compute()
data_kdtree	The efficient neighborhood data structure
interest_pts	The 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:

data	The point cloud to process from Descriptor3D::compute()
data_kdtree	The efficient neighborhood data structure
interest_pts	The 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.

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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.

SpectralAnalysis* Curvature::spectral_information_ [private]

Definition at line 153 of file curvature.h.

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

• curvature.h
• curvature.cpp