40 #ifndef PCL_INTENSITY_SPIN_H_
41 #define PCL_INTENSITY_SPIN_H_
43 #include <pcl/features/feature.h>
57 template <
typename Po
intInT,
typename Po
intOutT>
61 typedef boost::shared_ptr<IntensitySpinEstimation<PointInT, PointOutT> >
Ptr;
62 typedef boost::shared_ptr<const IntensitySpinEstimation<PointInT, PointOutT> >
ConstPtr;
94 float radius,
float sigma,
int k,
95 const std::vector<int> &indices,
96 const std::vector<float> &squared_distances,
97 Eigen::MatrixXf &intensity_spin_image);
148 #ifdef PCL_NO_PRECOMPILE
149 #include <pcl/features/impl/intensity_spin.hpp>
152 #endif // #ifndef PCL_INTENSITY_SPIN_H_
int nr_intensity_bins_
The number of intensity bins in the descriptor.
boost::shared_ptr< const IntensitySpinEstimation< PointInT, PointOutT > > ConstPtr
void setNrIntensityBins(size_t nr_intensity_bins)
Set the number of bins to use in the intensity dimension of the spin image.
pcl::PointCloud< PointInT > PointCloudIn
int nr_distance_bins_
The number of distance bins in the descriptor.
std::string feature_name_
The feature name.
void setNrDistanceBins(size_t nr_distance_bins)
Set the number of bins to use in the distance dimension of the spin image.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void setSmoothingBandwith(float sigma)
Set the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images...
IntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud...
int getNrDistanceBins()
Returns the number of bins in the distance dimension of the spin image.
int getNrIntensityBins()
Returns the number of bins in the intensity dimension of the spin image.
float sigma_
The standard deviation of the Gaussian smoothing kernel used to construct the spin images...
boost::shared_ptr< IntensitySpinEstimation< PointInT, PointOutT > > Ptr
IntensitySpinEstimation()
Empty constructor.
float getSmoothingBandwith()
Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images...
Feature represents the base feature class.
void computeFeature(PointCloudOut &output)
Estimate the intensity-domain descriptors at a set of points given by
void computeIntensitySpinImage(const PointCloudIn &cloud, float radius, float sigma, int k, const std::vector< int > &indices, const std::vector< float > &squared_distances, Eigen::MatrixXf &intensity_spin_image)
Estimate the intensity-domain spin image descriptor for a given point based on its spatial neighborho...