00001 #ifndef __D3D_SPIN_IMAGE_GENERIC_H__ 00002 #define __D3D_SPIN_IMAGE_GENERIC_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 <Eigen3/Core> 00040 #include <Eigen3/Geometry> 00041 00042 #include <opencv/cv.h> 00043 #include <opencv/cxcore.h> 00044 #include <opencv/cvaux.hpp> 00045 #include <opencv/highgui.h> 00046 00047 #include <ias_descriptors_3d/generic/neighborhood_feature.h> 00048 00049 // -------------------------------------------------------------- 00058 // -------------------------------------------------------------- 00059 00060 // -------------------------------------------------------------- 00069 // -------------------------------------------------------------- 00070 class SpinImageGeneric: public NeighborhoodFeature 00071 { 00072 public: 00073 // -------------------------------------------------------------- 00077 // -------------------------------------------------------------- 00078 SpinImageGeneric(); 00079 00080 virtual ~SpinImageGeneric() = 0; 00081 00082 protected: 00083 // -------------------------------------------------------------- 00093 // -------------------------------------------------------------- 00094 virtual void 00095 computeNeighborhoodFeature(const sensor_msgs::PointCloud& data, 00096 const std::vector<int>& neighbor_indices, 00097 const unsigned int interest_sample_idx, 00098 std::vector<float>& result) const; 00099 00100 void display(const std::vector<float>& spin_image) const; 00101 00103 const std::vector<const Eigen3::Vector3d*>* spin_axes_; 00104 00106 std::vector<Eigen3::Vector3d> spin_image_centers_; 00107 00109 double row_res_; 00110 00112 double col_res_; 00113 00115 unsigned int nbr_rows_; 00116 00118 unsigned int nbr_cols_; 00119 }; 00120 00121 #endif