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: More...

#include <intensity_spin.h>

Inheritance diagram for pcl::IntensitySpinEstimation< PointInT, PointOutT >:

[legend]

List of all members.

Public Types
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
void	computeFeature (PointCloudOut &output)
	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 ().
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)
	Estimate the intensity-domain spin image descriptor for a given point based on its spatial neighborhood of 3D points and their intensities.
int	getNrDistanceBins ()
	Returns the number of bins in the distance dimension of the spin image.
int	getNrIntensityBins ()
	Returns the number of bins in the intensity dimension of the spin image.
float	getSmoothingBandwith ()
	Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images.
	IntensitySpinEstimation ()
	Empty constructor.
void	setNrDistanceBins (size_t nr_distance_bins)
	Set the number of bins to use in the distance dimension of the spin image.
void	setNrIntensityBins (size_t nr_intensity_bins)
	Set the number of bins to use in the intensity 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.
Public Attributes
int	nr_distance_bins_
	The number of distance bins in the descriptor.
int	nr_intensity_bins_
	The number of intensity bins in the descriptor.
float	sigma_
	The standard deviation of the Gaussian smoothing kernel used to construct the spin images.
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

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.

Author:: Michael Dixon

Definition at line 57 of file intensity_spin.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef pcl::PointCloud<PointInT> pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudIn

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 70 of file intensity_spin.h.

template<typename PointInT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudOut

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 71 of file intensity_spin.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

pcl::IntensitySpinEstimation< PointInT, PointOutT >::IntensitySpinEstimation ( ) [inline]

Empty constructor.

Definition at line 74 of file intensity_spin.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut & output ) [virtual]

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 109 of file intensity_spin.hpp.

template<typename PointInT, typename PointOutT>

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, private, virtual]

Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Parameters:

[out] output the output point cloud

Implements pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::IntensitySpinEstimation< PointInT, Eigen::MatrixXf >.

Definition at line 148 of file intensity_spin.h.

template<typename PointInT , typename PointOutT >

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::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
	)

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 47 of file intensity_spin.hpp.

template<typename PointInT, typename PointOutT>

int pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrDistanceBins ( ) [inline]

Returns the number of bins in the distance dimension of the spin image.

Definition at line 104 of file intensity_spin.h.

template<typename PointInT, typename PointOutT>

int pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrIntensityBins ( ) [inline]

Returns the number of bins in the intensity dimension of the spin image.

Definition at line 114 of file intensity_spin.h.

template<typename PointInT, typename PointOutT>

float pcl::IntensitySpinEstimation< PointInT, PointOutT >::getSmoothingBandwith ( ) [inline]

Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images.

Definition at line 124 of file intensity_spin.h.

template<typename PointInT, typename PointOutT>

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::setNrDistanceBins ( size_t nr_distance_bins ) [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 100 of file intensity_spin.h.

template<typename PointInT, typename PointOutT>

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::setNrIntensityBins ( size_t nr_intensity_bins ) [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 110 of file intensity_spin.h.

template<typename PointInT, typename PointOutT>

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::setSmoothingBandwith ( float sigma ) [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 120 of file intensity_spin.h.

Member Data Documentation

template<typename PointInT, typename PointOutT>

int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_

The number of distance bins in the descriptor.

Definition at line 135 of file intensity_spin.h.

template<typename PointInT, typename PointOutT>

int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_

The number of intensity bins in the descriptor.

Definition at line 138 of file intensity_spin.h.

template<typename PointInT, typename PointOutT>

float pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_

The standard deviation of the Gaussian smoothing kernel used to construct the spin images.

Definition at line 141 of file intensity_spin.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::IntensitySpinEstimation< PointInT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointOutT>
class pcl::IntensitySpinEstimation< PointInT, PointOutT >