43#include <pcl/features/feature.h>
57 template <
typename Po
intInT,
typename Po
intOutT>
61 using Ptr = shared_ptr<IntensitySpinEstimation<PointInT, PointOutT> >;
62 using ConstPtr = shared_ptr<const IntensitySpinEstimation<PointInT, PointOutT> >;
94 float radius,
float sigma,
int k,
96 const std::vector<float> &squared_distances,
97 Eigen::MatrixXf &intensity_spin_image);
148#ifdef PCL_NO_PRECOMPILE
149#include <pcl/features/impl/intensity_spin.hpp>
Feature represents the base feature class.
const std::string & getClassName() const
Get a string representation of the name of this class.
double search_radius_
The nearest neighbors search radius for each point.
std::string feature_name_
The feature name.
KdTreePtr tree_
A pointer to the spatial search object.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
IntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud...
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
float getSmoothingBandwith()
Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images.
pcl::PointCloud< PointInT > PointCloudIn
void computeFeature(PointCloudOut &output) override
Estimate the intensity-domain descriptors at a set of points given by <setInputCloud (),...
int nr_distance_bins_
The number of distance bins in the descriptor.
float sigma_
The standard deviation of the Gaussian smoothing kernel used to construct the spin images.
void setSmoothingBandwith(float sigma)
Set the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images.
shared_ptr< IntensitySpinEstimation< PointInT, PointOutT > > Ptr
int getNrDistanceBins()
Returns the number of bins in the distance dimension of the spin image.
void computeIntensitySpinImage(const PointCloudIn &cloud, float radius, float sigma, int k, const pcl::Indices &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 neighborho...
int getNrIntensityBins()
Returns the number of bins in the intensity dimension of the spin image.
int nr_intensity_bins_
The number of intensity bins in the descriptor.
void setNrIntensityBins(std::size_t nr_intensity_bins)
Set the number of bins to use in the intensity dimension of the spin image.
void setNrDistanceBins(std::size_t nr_distance_bins)
Set the number of bins to use in the distance dimension of the spin image.
shared_ptr< const IntensitySpinEstimation< PointInT, PointOutT > > ConstPtr
IntensitySpinEstimation()
Empty constructor.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
IndicesAllocator<> Indices
Type used for indices in PCL.