A NeighborhoodFeature is an abstract base class for descriptors that use a local neighborhood of points to compute features. More...

Inheritance diagram for NeighborhoodFeature:

Public Member Functions
	NeighborhoodFeature ()
	Abstract constructor.
virtual	~NeighborhoodFeature ()=0
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 =0
	The prototype of the method that computes the features as defined in the inheriting class.
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)
	Retrieves the local neighborhood around each interest point and then computes features.
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)
	Retrieves the local neighborhood around each interest region and then computes features.
Protected Attributes
float	neighborhood_radius_
	The radius to define the bounding box.
bool	neighborhood_radius_defined_
	Flag if neighborhood_radius_ has been defined.

Detailed Description

A NeighborhoodFeature is an abstract base class for descriptors that use a local neighborhood of points to compute features.

Example: a spin image uses neighboring points to compute a histogram

Definition at line 69 of file neighborhood_feature.h.

Constructor & Destructor Documentation

NeighborhoodFeature::NeighborhoodFeature ( )

Abstract constructor.

Definition at line 42 of file neighborhood_feature.cpp.

NeighborhoodFeature::~NeighborhoodFeature ( ) [pure virtual]

Definition at line 51 of file neighborhood_feature.cpp.

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

The prototype of the method that computes the features as defined in the inheriting class.

Parameters:

data	The overall point cloud data
neighbor_indices	List of indices in data that constitute the neighborhood
interest_sample_idx	The interest point/region that is being processed.
result	The vector to hold the resulting spin image feature vector

void NeighborhoodFeature::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]`

Retrieves the local neighborhood around each interest point and then computes features.

Definition at line 58 of file neighborhood_feature.cpp.

virtual void NeighborhoodFeature::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]`

Retrieves the local neighborhood around each interest region and then computes features.

The radius to define the bounding box.

Definition at line 126 of file neighborhood_feature.h.

Flag if neighborhood_radius_ has been defined.

Definition at line 129 of file neighborhood_feature.h.

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