intensity_spin.h

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/*
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 * $Id: intensity_spin.h 35810 2011-02-08 00:03:46Z rusu $
 *
 */
#ifndef PCL_INTENSITY_SPIN_H_
#define PCL_INTENSITY_SPIN_H_

#include "pcl/features/feature.h"

namespace pcl
{
  template <typename PointInT, typename PointOutT>
  class IntensitySpinEstimation: public Feature<PointInT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;

      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::surface_;

      using Feature<PointInT, PointOutT>::tree_;
      using Feature<PointInT, PointOutT>::search_radius_;
      
      typedef typename pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      IntensitySpinEstimation () : nr_distance_bins_ (4), nr_intensity_bins_ (5), sigma_ (1.0)
      {
        feature_name_ = "IntensitySpinEstimation";
      };

      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);

      inline void setNrDistanceBins (size_t nr_distance_bins) { nr_distance_bins_ = (int) nr_distance_bins; };

      inline int getNrDistanceBins () { return (nr_distance_bins_); };

      inline void setNrIntensityBins (size_t nr_intensity_bins) { nr_intensity_bins_ = (int) nr_intensity_bins; };

      inline int getNrIntensityBins () { return (nr_intensity_bins_); };

      inline void setSmoothingBandwith (float sigma) { sigma_ = sigma; };

      inline float getSmoothingBandwith () { return (sigma_); };

    protected:

      void computeFeature (PointCloudOut &output);
    
    private:

      int nr_distance_bins_;

      int nr_intensity_bins_;

      float sigma_;
  };
}

#endif // #ifndef PCL_INTENSITY_SPIN_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013