pcl: intensity_gradient.h Source File

00001 /*
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00034  * $Id: intensity_gradient.h 35810 2011-02-08 00:03:46Z rusu $
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00037 #ifndef PCL_INTENSITY_GRADIENT_H_
00038 #define PCL_INTENSITY_GRADIENT_H_
00039 
00040 #include <pcl/features/feature.h>
00041 
00042 namespace pcl
00043 {
00050   template <typename PointInT, typename PointNT, typename PointOutT>
00051   class IntensityGradientEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00052   {
00053     public:
00054       using Feature<PointInT, PointOutT>::feature_name_;
00055       using Feature<PointInT, PointOutT>::getClassName;
00056       using Feature<PointInT, PointOutT>::indices_;
00057       using Feature<PointInT, PointOutT>::surface_;
00058       using Feature<PointInT, PointOutT>::k_;
00059       using Feature<PointInT, PointOutT>::search_parameter_;
00060       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00061 
00062       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00063 
00065       IntensityGradientEstimation ()
00066       {
00067         feature_name_ = "IntensityGradientEstimation";
00068       };
00069 
00070     protected:
00075       void computeFeature (PointCloudOut &output);
00076 
00077     private:
00085       void computePointIntensityGradient (
00086           const pcl::PointCloud<PointInT> &cloud, const std::vector<int> &indices, 
00087           const Eigen::Vector3f &point, const Eigen::Vector3f &normal, 
00088           Eigen::Vector3f &gradient);
00089                                       
00090   };
00091 }
00092 
00093 #endif // #ifndef PCL_INTENSITY_GRADIENT_H_