pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT > Class Template Reference

IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position and intensity values. The intensity gradient at a given point will be a vector orthogonal to the surface normal and pointing in the direction of the greatest increase in local intensity; the vector's magnitude indicates the rate of intensity change. More...

#include <intensity_gradient.h>

Inheritance diagram for pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT >:

[legend]

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
	IntensityGradientEstimation ()
	Empty constructor.
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
Private Member Functions
void	computePointIntensityGradient (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, const Eigen::Vector3f &point, const Eigen::Vector3f &normal, Eigen::Vector3f &gradient)
	Estimate the intensity gradient around a given point based on its spatial neighborhood of points.

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Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT >

IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position and intensity values. The intensity gradient at a given point will be a vector orthogonal to the surface normal and pointing in the direction of the greatest increase in local intensity; the vector's magnitude indicates the rate of intensity change.

Author:

Michael Dixon

Definition at line 51 of file intensity_gradient.h.

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Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 62 of file intensity_gradient.h.

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Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT >::IntensityGradientEstimation

(

)

[inline]

Empty constructor.

Definition at line 65 of file intensity_gradient.h.

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Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT >::computeFeature

(

PointCloudOut &

output

)

[inline, protected, virtual]

Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters:

output

the resultant point cloud that contains the intensity gradient vectors

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 44 of file intensity_gradient.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT >::computePointIntensityGradient	(	const pcl::PointCloud< PointInT > &	cloud,
		const std::vector< int > &	indices,
		const Eigen::Vector3f &	point,
		const Eigen::Vector3f &	normal,
		Eigen::Vector3f &	gradient
	)			[inline, private]

Estimate the intensity gradient around a given point based on its spatial neighborhood of points.

Parameters:

	cloud	a point cloud dataset containing XYZI coordinates (Cartesian coordinates + intensity)
	indices	the indices of the neighoring points in the dataset
	point	the 3D Cartesian coordinates of the point at which to estimate the gradient
	normal	the 3D surface normal of the given point
	gradient	the resultant 3D gradient vector

Definition at line 77 of file intensity_gradient.hpp.

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

• intensity_gradient.h
• intensity_gradient.hpp