intensity_gradient.h

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00001 /*
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00034  * $Id: intensity_gradient.h 1370 2011-06-19 01:06:01Z jspricke $
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00037 #ifndef PCL_INTENSITY_GRADIENT_H_
00038 #define PCL_INTENSITY_GRADIENT_H_
00039 
00040 #include <pcl/features/feature.h>
00041 
00042 namespace pcl
00043 {
00051   template <typename PointInT, typename PointNT, typename PointOutT>
00052   class IntensityGradientEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00053   {
00054     public:
00055       using Feature<PointInT, PointOutT>::feature_name_;
00056       using Feature<PointInT, PointOutT>::getClassName;
00057       using Feature<PointInT, PointOutT>::indices_;
00058       using Feature<PointInT, PointOutT>::surface_;
00059       using Feature<PointInT, PointOutT>::k_;
00060       using Feature<PointInT, PointOutT>::search_parameter_;
00061       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00062 
00063       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00064 
00066       IntensityGradientEstimation ()
00067       {
00068         feature_name_ = "IntensityGradientEstimation";
00069       };
00070 
00071     protected:
00076       void 
00077       computeFeature (PointCloudOut &output);
00078 
00079     private:
00087       void 
00088       computePointIntensityGradient (const pcl::PointCloud<PointInT> &cloud, 
00089                                      const std::vector<int> &indices, 
00090                                      const Eigen::Vector3f &point, const Eigen::Vector3f &normal, 
00091                                      Eigen::Vector3f &gradient);
00092                                       
00093   };
00094 }
00095 
00096 #endif // #ifndef PCL_INTENSITY_GRADIENT_H_