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,
95 const std::vector<int> &indices,
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> pcl::PointCloud< PointInT > PointCloudIn
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 neighborho...
std::string feature_name_
The feature name.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void setNrDistanceBins(std::size_t nr_distance_bins)
Set the number of bins to use in the distance dimension of the spin image.
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...
IntensitySpinEstimation()
Empty constructor.
int nr_distance_bins_
The number of distance bins in the descriptor.
void computeFeature(PointCloudOut &output) override
Estimate the intensity-domain descriptors at a set of points given by <setInputCloud ()...
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
IntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud...
void setNrIntensityBins(std::size_t nr_intensity_bins)
Set the number of bins to use in the intensity dimension of the spin image.
int getNrDistanceBins()
Returns the number of bins in the distance dimension of the spin image.
int nr_intensity_bins_
The number of intensity bins in the descriptor.
int getNrIntensityBins()
Returns the number of bins in the intensity dimension of the spin image.
Feature represents the base feature class.
float getSmoothingBandwith()
Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images...
shared_ptr< Feature< PointInT, PointOutT > > Ptr