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>
Public Types | |
| typedef pcl::PointCloud< PointInT > | PointCloudIn |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
Public Member Functions | |
| 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. | |
Protected 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 (). | |
Private 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. | |
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.
Definition at line 54 of file intensity_spin.h.
| typedef pcl::PointCloud<PointInT> pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudIn |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 67 of file intensity_spin.h.
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 68 of file intensity_spin.h.
| pcl::IntensitySpinEstimation< PointInT, PointOutT >::IntensitySpinEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 71 of file intensity_spin.h.
| void pcl::IntensitySpinEstimation< PointInT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [inline, protected, 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 ().
| output | the resultant point cloud model dataset that contains the intensity-domain spin image features |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 106 of file intensity_spin.hpp.
| 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 | |||
| ) | [inline] |
Estimate the intensity-domain spin image descriptor for a given point based on its spatial neighborhood of 3D points and their intensities.
| cloud | the dataset containing the Cartesian coordinates and intensity values of the points | |
| radius | the radius of the feature | |
| sigma | the standard deviation of the Gaussian smoothing kernel to use during the soft histogram update | |
| k | the number of neighbors to use from indices and squared_distances | |
| indices | the indices of the points that comprise the query point's neighborhood | |
| squared_distances | the squared distances from the query point to each point in the neighborhood | |
| intensity_spin_image | the resultant intensity-domain spin image descriptor |
Definition at line 45 of file intensity_spin.hpp.
| int pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrDistanceBins | ( | ) | [inline] |
Returns the number of bins in the distance dimension of the spin image.
Definition at line 96 of file intensity_spin.h.
| int pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrIntensityBins | ( | ) | [inline] |
Returns the number of bins in the intensity dimension of the spin image.
Definition at line 104 of file intensity_spin.h.
| 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 112 of file intensity_spin.h.
| 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.
| nr_distance_bins | the number of bins to use in the distance dimension of the spin image |
Definition at line 93 of file intensity_spin.h.
| 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.
| nr_intensity_bins | the number of bins to use in the intensity dimension of the spin image |
Definition at line 101 of file intensity_spin.h.
| 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.
| sigma | the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images |
Definition at line 109 of file intensity_spin.h.
int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_ [private] |
The number of distance bins in the descriptor.
Definition at line 125 of file intensity_spin.h.
int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_ [private] |
The number of intensity bins in the descriptor.
Definition at line 128 of file intensity_spin.h.
float pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_ [private] |
The standard deviation of the Gaussian smoothing kernel used to construct the spin images.
Definition at line 131 of file intensity_spin.h.
