Public Types | Public Member Functions | Protected Member Functions

pcl::IntensitySpinEstimation< PointInT, PointOutT > Class Template Reference
[Module features]

IntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud dataset containing points and intensity. More...

#include <pcl/features/intensity_spin.h>

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List of all members.

Public Types

typedef pcl::PointCloud< PointInT > PointCloudIn
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut

Public Member Functions

 IntensitySpinEstimation ()
 Empty constructor.
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.
void setNrDistanceBins (size_t nr_distance_bins)
 Set the number of bins to use in the distance dimension of the spin image.
int getNrDistanceBins ()
 Returns the number of bins 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.
int getNrIntensityBins ()
 Returns the number of bins 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.
float getSmoothingBandwith ()
 Returns the standard deviation of the Gaussian smoothing kernel used to construct 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 ().

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 55 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 68 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 69 of file intensity_spin.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 72 of file intensity_spin.h.


Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::IntensitySpinEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut output  )  [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 ().

Parameters:
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.

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:
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.

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 102 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 112 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 122 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:
nr_distance_bins the number of bins to use in the distance dimension of the spin image

Definition at line 98 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:
nr_intensity_bins the number of bins to use in the intensity dimension of the spin image

Definition at line 108 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:
sigma the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images

Definition at line 118 of file intensity_spin.h.


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