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/PointCloudLibraryIntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud dataset containing points and intensity. More...
#include <pcl/features/intensity_spin.h>
Public Types | |
| using | Ptr = shared_ptr< IntensitySpinEstimation< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const IntensitySpinEstimation< PointInT, PointOutT > > |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
 Public Types inherited from pcl::Feature< PointInT, PointOutT >
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| using | BaseClass = PCLBase< PointInT > |
| using | Ptr = shared_ptr< Feature< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > > |
| using | KdTree = pcl::search::Search< PointInT > |
| using | KdTreePtr = typename KdTree::Ptr |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudInPtr = typename PointCloudIn::Ptr |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
| using | PointCloudOut = pcl::PointCloud< PointOutT > |
| using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
| using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
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Public Types inherited from pcl::PCLBase< PointInT >
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| using | PointCloud = pcl::PointCloud< PointInT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
| IntensitySpinEstimation () | |
| Empty constructor. More... |
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| void | computeIntensitySpinImage (const PointCloudIn &cloud, float radius, float sigma, int k, const pcl::Indices &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 neighborhood of 3D points and their intensities. More... |
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| void | setNrDistanceBins (std::size_t nr_distance_bins) |
| Set the number of bins to use in the distance dimension of the spin image. More... |
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| int | getNrDistanceBins () |
| Returns the number of bins in the distance dimension of the spin image. More... |
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| void | setNrIntensityBins (std::size_t nr_intensity_bins) |
| Set the number of bins to use in the intensity dimension of the spin image. More... |
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| int | getNrIntensityBins () |
| Returns the number of bins in the intensity dimension of the spin image. More... |
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| void | setSmoothingBandwith (float sigma) |
| Set the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images. More... |
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| float | getSmoothingBandwith () |
| Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images. More... |
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| void | computeFeature (PointCloudOut &output) override |
| Estimate the intensity-domain descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface (), and the spatial locator in setSearchMethod (). More... |
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Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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| Feature () | |
| Empty constructor. More... |
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| virtual | ~Feature () |
| Empty destructor. More... |
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| void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More... |
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| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... |
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| double | getSearchParameter () const |
| Get the internal search parameter. More... |
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| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... |
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| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... |
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| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... |
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| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... |
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| void | compute (PointCloudOut &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... |
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Public Member Functions inherited from pcl::PCLBase< PointInT >
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Public Attributes | |
| int | nr_distance_bins_ |
| The number of distance bins in the descriptor. More... |
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| int | nr_intensity_bins_ |
| The number of intensity bins in the descriptor. More... |
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| float | sigma_ |
| The standard deviation of the Gaussian smoothing kernel used to construct the spin images. More... |
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Additional Inherited Members | |
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Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... |
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| int | searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... |
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| int | searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... |
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Protected Member Functions inherited from pcl::PCLBase< PointInT >
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
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| std::string | feature_name_ |
| The feature name. More... |
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| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... |
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| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| int | k_ |
| The number of K nearest neighbors to use for each point. More... |
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| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... |
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Protected Attributes inherited from pcl::PCLBase< PointInT >
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointInT, typename PointOutT>
class pcl::IntensitySpinEstimation< PointInT, PointOutT >
IntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud dataset containing points and intensity.
For more information about the intensity-domain spin image descriptor, see:
Svetlana Lazebnik, Cordelia Schmid, and Jean Ponce. A sparse texture representation using local affine regions. In IEEE Transactions on Pattern Analysis and Machine Intelligence, volume 27, pages 1265-1278, August 2005.
Definition at line 58 of file intensity_spin.h.
Member Typedef Documentation
ConstPtr
| using pcl::IntensitySpinEstimation< PointInT, PointOutT >::ConstPtr = shared_ptr<const IntensitySpinEstimation<PointInT, PointOutT> > |
Definition at line 62 of file intensity_spin.h.
PointCloudIn
| using pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT> |
Definition at line 73 of file intensity_spin.h.
PointCloudOut
| using pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Definition at line 74 of file intensity_spin.h.
Ptr
| using pcl::IntensitySpinEstimation< PointInT, PointOutT >::Ptr = shared_ptr<IntensitySpinEstimation<PointInT, PointOutT> > |
Definition at line 61 of file intensity_spin.h.
Constructor & Destructor Documentation
IntensitySpinEstimation()
| inline |
Empty constructor.
Definition at line 77 of file intensity_spin.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
Member Function Documentation
computeFeature()
| overridevirtual |
Estimate the intensity-domain descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface (), and the spatial locator in setSearchMethod ().
- Parameters
-
[out] output the resultant point cloud model dataset that contains the intensity-domain spin image features
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 110 of file intensity_spin.hpp.
References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::width.
computeIntensitySpinImage()
| void pcl::IntensitySpinEstimation< PointInT, PointOutT >::computeIntensitySpinImage | ( | const PointCloudIn & | cloud, |
| float | radius, | ||
| float | sigma, | ||
| int | k, | ||
| const pcl::Indices & | 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 neighborhood of 3D points and their intensities.
- Parameters
-
[in] cloud the dataset containing the Cartesian coordinates and intensity values of the points [in] radius the radius of the feature [in] sigma the standard deviation of the Gaussian smoothing kernel to use during the soft histogram update [in] k the number of neighbors to use from indices and squared_distances [in] indices the indices of the points that comprise the query point's neighborhood [in] squared_distances the squared distances from the query point to each point in the neighborhood [out] intensity_spin_image the resultant intensity-domain spin image descriptor
Definition at line 48 of file intensity_spin.hpp.
getNrDistanceBins()
| inline |
Returns the number of bins in the distance dimension of the spin image.
Definition at line 107 of file intensity_spin.h.
References pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_.
getNrIntensityBins()
| inline |
Returns the number of bins in the intensity dimension of the spin image.
Definition at line 117 of file intensity_spin.h.
References pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_.
getSmoothingBandwith()
| inline |
Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images.
Definition at line 127 of file intensity_spin.h.
References pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_.
setNrDistanceBins()
| inline |
Set the number of bins to use in the distance dimension of the spin image.
- Parameters
-
[in] nr_distance_bins the number of bins to use in the distance dimension of the spin image
Definition at line 103 of file intensity_spin.h.
References pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_.
setNrIntensityBins()
| inline |
Set the number of bins to use in the intensity dimension of the spin image.
- Parameters
-
[in] nr_intensity_bins the number of bins to use in the intensity dimension of the spin image
Definition at line 113 of file intensity_spin.h.
References pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_.
setSmoothingBandwith()
| inline |
Set the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images.
- Parameters
-
[in] sigma the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images
Definition at line 123 of file intensity_spin.h.
References pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_.
Member Data Documentation
nr_distance_bins_
| int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_ |
The number of distance bins in the descriptor.
Definition at line 138 of file intensity_spin.h.
Referenced by pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrDistanceBins(), and pcl::IntensitySpinEstimation< PointInT, PointOutT >::setNrDistanceBins().
nr_intensity_bins_
| int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_ |
The number of intensity bins in the descriptor.
Definition at line 141 of file intensity_spin.h.
Referenced by pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrIntensityBins(), and pcl::IntensitySpinEstimation< PointInT, PointOutT >::setNrIntensityBins().
sigma_
| float pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_ |
The standard deviation of the Gaussian smoothing kernel used to construct the spin images.
Definition at line 144 of file intensity_spin.h.
Referenced by pcl::IntensitySpinEstimation< PointInT, PointOutT >::getSmoothingBandwith(), and pcl::IntensitySpinEstimation< PointInT, PointOutT >::setSmoothingBandwith().
The documentation for this class was generated from the following files:
- pcl/features/intensity_spin.h
- pcl/features/impl/intensity_spin.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_intensity_spin_estimation.html