Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: intensity_spin.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 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_