Point Cloud Library (PCL)  1.3.1
intensity_spin.h
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00001 /*
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00034  * $Id: intensity_spin.h 1370 2011-06-19 01:06:01Z jspricke $
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00037 #ifndef PCL_INTENSITY_SPIN_H_
00038 #define PCL_INTENSITY_SPIN_H_
00039 
00040 #include "pcl/features/feature.h"
00041 
00042 namespace pcl
00043 {
00054   template <typename PointInT, typename PointOutT>
00055   class IntensitySpinEstimation: public Feature<PointInT, PointOutT>
00056   {
00057     public:
00058       using Feature<PointInT, PointOutT>::feature_name_;
00059       using Feature<PointInT, PointOutT>::getClassName;
00060 
00061       using Feature<PointInT, PointOutT>::input_;
00062       using Feature<PointInT, PointOutT>::indices_;
00063       using Feature<PointInT, PointOutT>::surface_;
00064 
00065       using Feature<PointInT, PointOutT>::tree_;
00066       using Feature<PointInT, PointOutT>::search_radius_;
00067       
00068       typedef typename pcl::PointCloud<PointInT> PointCloudIn;
00069       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00070 
00072       IntensitySpinEstimation () : nr_distance_bins_ (4), nr_intensity_bins_ (5), sigma_ (1.0)
00073       {
00074         feature_name_ = "IntensitySpinEstimation";
00075       };
00076 
00087       void 
00088       computeIntensitySpinImage (const PointCloudIn &cloud, 
00089                                  float radius, float sigma, int k, 
00090                                  const std::vector<int> &indices, 
00091                                  const std::vector<float> &squared_distances, 
00092                                  Eigen::MatrixXf &intensity_spin_image);
00093 
00097       inline void 
00098       setNrDistanceBins (size_t nr_distance_bins) { nr_distance_bins_ = (int) nr_distance_bins; };
00099 
00101       inline int 
00102       getNrDistanceBins () { return (nr_distance_bins_); };
00103 
00107       inline void 
00108       setNrIntensityBins (size_t nr_intensity_bins) { nr_intensity_bins_ = (int) nr_intensity_bins; };
00109 
00111       inline int 
00112       getNrIntensityBins () { return (nr_intensity_bins_); };
00113 
00117       inline void 
00118       setSmoothingBandwith (float sigma) { sigma_ = sigma; };
00119 
00121       inline float 
00122       getSmoothingBandwith () { return (sigma_); };
00123 
00124     protected:
00125 
00130       void 
00131       computeFeature (PointCloudOut &output);
00132     
00133     private:
00134 
00136       int nr_distance_bins_;
00137 
00139       int nr_intensity_bins_;
00140 
00142       float sigma_;
00143   };
00144 }
00145 
00146 #endif // #ifndef PCL_INTENSITY_SPIN_H_
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