Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT > Class Template Reference

IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position and intensity values. More...

#include <pcl/features/intensity_gradient.h>

+ Inheritance diagram for pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >:

Public Types

typedef boost::shared_ptr
< IntensityGradientEstimation
< PointInT, PointNT, PointOutT,
IntensitySelectorT > > 
Ptr
 
typedef boost::shared_ptr
< const
IntensityGradientEstimation
< PointInT, PointNT, PointOutT,
IntensitySelectorT > > 
ConstPtr
 
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
typedef pcl::PointCloud< PointNT > PointCloudN
 
typedef PointCloudN::Ptr PointCloudNPtr
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef boost::shared_ptr
< FeatureFromNormals< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const FeatureFromNormals
< PointInT, PointNT, PointOutT > > 
ConstPtr
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
typedef PCLBase< PointInT > BaseClass
 
typedef boost::shared_ptr
< Feature< PointInT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const Feature< PointInT,
PointOutT > > 
ConstPtr
 
typedef pcl::search::Search
< PointInT > 
KdTree
 
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud
< PointOutT > 
PointCloudOut
 
typedef boost::function< int(size_t,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethod
 
typedef boost::function< int(const
PointCloudIn &cloud, size_t
index, double, std::vector
< int > &, std::vector< float > &)> 
SearchMethodSurface
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 IntensityGradientEstimation ()
 Empty constructor. More...
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
 FeatureFromNormals ()
 Empty constructor. More...
 
virtual ~FeatureFromNormals ()
 Empty destructor. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
PointCloudNConstPtr getInputNormals () const
 Get a pointer to the normals of the input XYZ point cloud dataset. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 Feature ()
 Empty constructor. More...
 
virtual ~Feature ()
 Empty destructor. More...
 
void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...
 
PointCloudInConstPtr getSearchSurface () const
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch () const
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
void compute (PointCloudOut &output)
 Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void computeFeature (PointCloudOut &output)
 Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod (). More...
 
void computePointIntensityGradient (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, const Eigen::Vector3f &point, float mean_intensity, const Eigen::Vector3f &normal, Eigen::Vector3f &gradient)
 Estimate the intensity gradient around a given point based on its spatial neighborhood of points. More...
 
- Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
int searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
int searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

IntensitySelectorT intensity_
 intensity field accessor structure More...
 
unsigned int threads_
 number of threads to be used, default 0 (auto) More...
 
- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >

IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position and intensity values.

The intensity gradient at a given point will be a vector orthogonal to the surface normal and pointing in the direction of the greatest increase in local intensity; the vector's magnitude indicates the rate of intensity change.

Author
Michael Dixon

Definition at line 56 of file intensity_gradient.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<const IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> > pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::ConstPtr

Definition at line 60 of file intensity_gradient.h.

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::PointCloudOut

Definition at line 69 of file intensity_gradient.h.

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> > pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::Ptr

Definition at line 59 of file intensity_gradient.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::IntensityGradientEstimation ( )
inline

Empty constructor.

Definition at line 72 of file intensity_gradient.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT >
void pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::computeFeature ( PointCloudOut output)
protectedvirtual

Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters
outputthe resultant point cloud that contains the intensity gradient vectors

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 144 of file intensity_gradient.hpp.

References pcl::PointCloud< T >::is_dense, pcl::isFinite(), and pcl::PointCloud< T >::points.

template<typename PointInT , typename PointNT , typename PointOutT , typename IntensitySelectorT >
void pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::computePointIntensityGradient ( const pcl::PointCloud< PointInT > &  cloud,
const std::vector< int > &  indices,
const Eigen::Vector3f &  point,
float  mean_intensity,
const Eigen::Vector3f &  normal,
Eigen::Vector3f &  gradient 
)
protected

Estimate the intensity gradient around a given point based on its spatial neighborhood of points.

Parameters
clouda point cloud dataset containing XYZI coordinates (Cartesian coordinates + intensity)
indicesthe indices of the neighoring points in the dataset
pointthe 3D Cartesian coordinates of the point at which to estimate the gradient
mean_intensity
normalthe 3D surface normal of the given point
gradientthe resultant 3D gradient vector

Definition at line 48 of file intensity_gradient.hpp.

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::setNumberOfThreads ( unsigned int  nr_threads = 0)
inline

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 81 of file intensity_gradient.h.

References pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::threads_.

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
IntensitySelectorT pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::intensity_
protected

intensity field accessor structure

Definition at line 109 of file intensity_gradient.h.

template<typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT>>
unsigned int pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::threads_
protected

number of threads to be used, default 0 (auto)

Definition at line 111 of file intensity_gradient.h.

Referenced by pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::setNumberOfThreads().


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