Point Cloud Library (PCL)
1.11.1-dev
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43 #include <pcl/features/feature.h>
57 template <
typename Po
intInT,
typename Po
intOutT>
61 using Ptr = shared_ptr<IntensitySpinEstimation<PointInT, PointOutT> >;
62 using ConstPtr = shared_ptr<const IntensitySpinEstimation<PointInT, PointOutT> >;
94 float radius,
float sigma,
int k,
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>
shared_ptr< Feature< PointInT, PointOutT > > Ptr
void computeFeature(PointCloudOut &output) override
Estimate the intensity-domain descriptors at a set of points given by <setInputCloud (),...
int getNrIntensityBins()
Returns the number of bins in the intensity dimension of the spin image.
void setNrIntensityBins(std::size_t nr_intensity_bins)
Set the number of bins to use in the intensity dimension of the spin image.
IntensitySpinEstimation()
Empty constructor.
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
int nr_distance_bins_
The number of distance bins in the descriptor.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
IntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud...
void setNrDistanceBins(std::size_t nr_distance_bins)
Set the number of bins to use in the distance dimension of the spin image.
void setSmoothingBandwith(float sigma)
Set the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images.
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 neighborho...
pcl::PointCloud< PointInT > PointCloudIn
IndicesAllocator<> Indices
Type used for indices in PCL.
int getNrDistanceBins()
Returns the number of bins in the distance dimension of the spin image.
float sigma_
The standard deviation of the Gaussian smoothing kernel used to construct the spin images.
std::string feature_name_
The feature name.
float getSmoothingBandwith()
Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images.
int nr_intensity_bins_
The number of intensity bins in the descriptor.
Feature represents the base feature class.