An OrientationTangent descriptor uses extracted local tangents around each interest point/region to use as the local directions. More...
#include <orientation_tangent.h>
Public Member Functions | |
| virtual void | clearShared () |
| Clears any already-computed spectral information. | |
| std::string | getName () const |
| Returns a string that is unique for the current param settings. | |
| OrientationTangent (const double ref_x, const double ref_y, const double ref_z, SpectralAnalysis &spectral_information) | |
| Instantiates the orientation descriptor with given reference direction information and spectral information. | |
Protected Member Functions | |
| virtual int | precompute (const sensor_msgs::PointCloud &data, cloud_kdtree::KdTree &data_kdtree, const std::vector< const geometry_msgs::Point32 * > &interest_pts) |
| Extracts the tangents around 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) |
| Extracts the tangents around each interest region. | |
Private Attributes | |
| SpectralAnalysis * | spectral_information_ |
Detailed Description
An OrientationTangent descriptor uses extracted local tangents around each interest point/region to use as the local directions.
- Warning:
- This descriptor ignores the sign of the extracted tangent and the computed feature is always between 0 and 1
TODO: use sensor location so the extracted directions have meaningful signs
Definition at line 69 of file orientation_tangent.h.
Constructor & Destructor Documentation
| OrientationTangent::OrientationTangent | ( | const double | ref_x, |
| const double | ref_y, | ||
| const double | ref_z, | ||
| SpectralAnalysis & | spectral_information | ||
| ) |
Instantiates the orientation descriptor with given reference direction information and spectral information.
- Parameters:
-
ref_x The x dimension of the reference direction ref_y The y dimension of the reference direction ref_z The z dimension of the reference direction spectral_information The class to retrieve the tangents from for each interest point/region
Definition at line 42 of file orientation_tangent.cpp.
Member Function Documentation
| void OrientationTangent::clearShared | ( | ) | [virtual] |
Clears any already-computed spectral information.
Implements Descriptor3D.
Definition at line 68 of file orientation_tangent.cpp.
| string OrientationTangent::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 60 of file orientation_tangent.cpp.
| int OrientationTangent::precompute | ( | const sensor_msgs::PointCloud & | data, |
| cloud_kdtree::KdTree & | data_kdtree, | ||
| const std::vector< const geometry_msgs::Point32 * > & | interest_pts | ||
| ) | [protected, virtual] |
Extracts the tangents around each interest point.
- See also:
- Descriptor3D::precompute()
Implements Descriptor3D.
Definition at line 76 of file orientation_tangent.cpp.
| int OrientationTangent::precompute | ( | const sensor_msgs::PointCloud & | data, |
| cloud_kdtree::KdTree & | data_kdtree, | ||
| const std::vector< const std::vector< int > * > & | interest_region_indices | ||
| ) | [protected, virtual] |
Extracts the tangents around each interest region.
- See also:
- Descriptor3D::precompute()
Implements Descriptor3D.
Definition at line 106 of file orientation_tangent.cpp.
Member Data Documentation
Definition at line 121 of file orientation_tangent.h.
The documentation for this class was generated from the following files: