00001 #ifndef __D3D_CURVATURE_H__ 00002 #define __D3D_CURVATURE_H__ 00003 /********************************************************************* 00004 * Software License Agreement (BSD License) 00005 * 00006 * Copyright (c) 2009, Willow Garage 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the Willow Garage nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 *********************************************************************/ 00036 00037 #include <vector> 00038 00039 #include <opencv/cv.h> 00040 #include <opencv/cxcore.h> 00041 #include <opencv/cvaux.hpp> 00042 00043 #include <ias_descriptors_3d/generic/neighborhood_feature.h> 00044 #include <ias_descriptors_3d/shared/spectral_analysis.h> 00045 00046 // -------------------------------------------------------------- 00052 // -------------------------------------------------------------- 00053 00054 // -------------------------------------------------------------- 00063 // -------------------------------------------------------------- 00064 class Curvature: public Descriptor3D 00065 { 00066 public: 00067 // -------------------------------------------------------------- 00074 // -------------------------------------------------------------- 00075 Curvature(SpectralAnalysis& spectral_information); 00076 00077 // -------------------------------------------------------------- 00081 // -------------------------------------------------------------- 00082 virtual void clearShared(); 00083 00084 std::string getName() const; 00085 00086 protected: 00087 // -------------------------------------------------------------- 00097 // -------------------------------------------------------------- 00098 virtual int precompute(const sensor_msgs::PointCloud& data, 00099 cloud_kdtree::KdTree& data_kdtree, 00100 const std::vector<const geometry_msgs::Point32*>& interest_pts); 00101 00102 // -------------------------------------------------------------- 00112 // -------------------------------------------------------------- 00113 virtual int precompute(const sensor_msgs::PointCloud& data, 00114 cloud_kdtree::KdTree& data_kdtree, 00115 const std::vector<const std::vector<int>*>& interest_region_indices); 00116 00117 // -------------------------------------------------------------- 00123 // -------------------------------------------------------------- 00124 virtual void doComputation(const sensor_msgs::PointCloud& data, 00125 cloud_kdtree::KdTree& data_kdtree, 00126 const std::vector<const geometry_msgs::Point32*>& interest_pts, 00127 std::vector<std::vector<float> >& results); 00128 00129 // -------------------------------------------------------------- 00135 // -------------------------------------------------------------- 00136 virtual void doComputation(const sensor_msgs::PointCloud& data, 00137 cloud_kdtree::KdTree& data_kdtree, 00138 const std::vector<const std::vector<int>*>& interest_region_indices, 00139 std::vector<std::vector<float> >& results); 00140 00141 // -------------------------------------------------------------- 00145 // -------------------------------------------------------------- 00146 virtual void 00147 computeCurvature(const unsigned int interest_sample_idx, std::vector<float>& result) const; 00148 00149 private: 00151 const std::vector<const Eigen3::Vector3d*>* eig_vals_; 00152 00153 SpectralAnalysis* spectral_information_; 00154 }; 00155 00156 #endif