intensity_gradient.h

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#ifndef PCL_INTENSITY_GRADIENT_H_
#define PCL_INTENSITY_GRADIENT_H_

#include <pcl/features/feature.h>
#include <pcl/common/intensity.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT> >
  class IntensityGradientEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> > Ptr;
      typedef boost::shared_ptr<const IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> > ConstPtr;
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      IntensityGradientEstimation () : intensity_ (), threads_ (0)
      {
        feature_name_ = "IntensityGradientEstimation";
      };

      inline void
      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }

    protected:
      void
      computeFeature (PointCloudOut &output);

      void
      computePointIntensityGradient (const pcl::PointCloud<PointInT> &cloud,
                                     const std::vector<int> &indices,
                                     const Eigen::Vector3f &point, 
                                     float mean_intensity, 
                                     const Eigen::Vector3f &normal,
                                     Eigen::Vector3f &gradient);

    protected:
      IntensitySelectorT intensity_;
      unsigned int threads_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/intensity_gradient.hpp>
#endif

#endif // #ifndef PCL_INTENSITY_GRADIENT_H_