00001 #ifndef __D3D_SHAPE_SPECTRAL_H__ 00002 #define __D3D_SHAPE_SPECTRAL_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 // -------------------------------------------------------------- 00053 // -------------------------------------------------------------- 00054 00055 // -------------------------------------------------------------- 00068 // -------------------------------------------------------------- 00069 class ShapeSpectral: public Descriptor3D 00070 { 00071 public: 00072 // -------------------------------------------------------------- 00079 // -------------------------------------------------------------- 00080 ShapeSpectral(){} 00081 ShapeSpectral(SpectralAnalysis& spectral_information); 00082 00083 // -------------------------------------------------------------- 00087 // -------------------------------------------------------------- 00088 virtual void clearShared(); 00089 00090 std::string getName() const; 00091 00092 00093 protected: 00094 // -------------------------------------------------------------- 00104 // -------------------------------------------------------------- 00105 virtual int precompute(const sensor_msgs::PointCloud& data, 00106 cloud_kdtree::KdTree& data_kdtree, 00107 const std::vector<const geometry_msgs::Point32*>& interest_pts); 00108 00109 // -------------------------------------------------------------- 00119 // -------------------------------------------------------------- 00120 virtual int precompute(const sensor_msgs::PointCloud& data, 00121 cloud_kdtree::KdTree& data_kdtree, 00122 const std::vector<const std::vector<int>*>& interest_region_indices); 00123 00124 // -------------------------------------------------------------- 00131 // -------------------------------------------------------------- 00132 virtual void doComputation(const sensor_msgs::PointCloud& data, 00133 cloud_kdtree::KdTree& data_kdtree, 00134 const std::vector<const geometry_msgs::Point32*>& interest_pts, 00135 std::vector<std::vector<float> >& results); 00136 00137 // -------------------------------------------------------------- 00144 // -------------------------------------------------------------- 00145 virtual void doComputation(const sensor_msgs::PointCloud& data, 00146 cloud_kdtree::KdTree& data_kdtree, 00147 const std::vector<const std::vector<int>*>& interest_region_indices, 00148 std::vector<std::vector<float> >& results); 00149 00150 // -------------------------------------------------------------- 00154 // -------------------------------------------------------------- 00155 virtual void computeShapeFeatures(const unsigned int interest_sample_idx, 00156 std::vector<float>& result) const; 00157 00158 private: 00160 const std::vector<const Eigen3::Vector3d*>* eig_vals_; 00161 00162 SpectralAnalysis* spectral_information_; 00163 }; 00164 00165 #endif