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

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>

+ Inheritance diagram for pcl::IntensitySpinEstimation< PointInT, PointOutT >:

Public Types

typedef boost::shared_ptr
< IntensitySpinEstimation
< PointInT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const
IntensitySpinEstimation
< PointInT, PointOutT > > 
ConstPtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
- 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

 IntensitySpinEstimation ()
 Empty constructor. More...
 
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. More...
 
void setNrDistanceBins (size_t nr_distance_bins)
 Set the number of bins to use in the distance dimension of the spin image. More...
 
int getNrDistanceBins ()
 Returns the number of bins in the distance dimension of the spin image. More...
 
void setNrIntensityBins (size_t nr_intensity_bins)
 Set the number of bins to use in the intensity dimension of the spin image. More...
 
int getNrIntensityBins ()
 Returns the number of bins in the intensity dimension of the spin image. More...
 
void setSmoothingBandwith (float sigma)
 Set the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images. More...
 
float getSmoothingBandwith ()
 Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images. More...
 
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 (). 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...
 

Public Attributes

int nr_distance_bins_
 The number of distance bins in the descriptor. More...
 
int nr_intensity_bins_
 The number of intensity bins in the descriptor. More...
 
float sigma_
 The standard deviation of the Gaussian smoothing kernel used to construct the spin images. More...
 

Additional Inherited Members

- 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 initCompute ()
 This method should get called before starting the actual computation. 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 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 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 58 of file intensity_spin.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT >
typedef boost::shared_ptr<const IntensitySpinEstimation<PointInT, PointOutT> > pcl::IntensitySpinEstimation< PointInT, PointOutT >::ConstPtr

Definition at line 62 of file intensity_spin.h.

template<typename PointInT , typename PointOutT >
typedef pcl::PointCloud<PointInT> pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudIn

Definition at line 73 of file intensity_spin.h.

template<typename PointInT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudOut

Definition at line 74 of file intensity_spin.h.

template<typename PointInT , typename PointOutT >
typedef boost::shared_ptr<IntensitySpinEstimation<PointInT, PointOutT> > pcl::IntensitySpinEstimation< PointInT, PointOutT >::Ptr

Definition at line 61 of file intensity_spin.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 77 of file intensity_spin.h.

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

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::IntensitySpinEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut output)
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
[out]outputthe resultant point cloud model dataset that contains the intensity-domain spin image features

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 110 of file intensity_spin.hpp.

References pcl::PointCloud< T >::height, pcl::PointCloud< T >::is_dense, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

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
[in]cloudthe dataset containing the Cartesian coordinates and intensity values of the points
[in]radiusthe radius of the feature
[in]sigmathe standard deviation of the Gaussian smoothing kernel to use during the soft histogram update
[in]kthe number of neighbors to use from indices and squared_distances
[in]indicesthe indices of the points that comprise the query point's neighborhood
[in]squared_distancesthe squared distances from the query point to each point in the neighborhood
[out]intensity_spin_imagethe resultant intensity-domain spin image descriptor

Definition at line 48 of file intensity_spin.hpp.

References pcl::PointCloud< T >::points.

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 107 of file intensity_spin.h.

References pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_.

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 117 of file intensity_spin.h.

References pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_.

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 127 of file intensity_spin.h.

References pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_.

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
[in]nr_distance_binsthe number of bins to use in the distance dimension of the spin image

Definition at line 103 of file intensity_spin.h.

References pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_.

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
[in]nr_intensity_binsthe number of bins to use in the intensity dimension of the spin image

Definition at line 113 of file intensity_spin.h.

References pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_.

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
[in]sigmathe standard deviation of the Gaussian smoothing kernel to use when constructing the spin images

Definition at line 123 of file intensity_spin.h.

References pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_.

Member Data Documentation

template<typename PointInT , typename PointOutT >
int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_
template<typename PointInT , typename PointOutT >
int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_
template<typename PointInT , typename PointOutT >
float pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_

The standard deviation of the Gaussian smoothing kernel used to construct the spin images.

Definition at line 144 of file intensity_spin.h.

Referenced by pcl::IntensitySpinEstimation< PointInT, PointOutT >::getSmoothingBandwith(), and pcl::IntensitySpinEstimation< PointInT, PointOutT >::setSmoothingBandwith().


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