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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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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>
Public Types | |
| typedef pcl::PointCloud< PointInT > | PointCloudIn |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
| 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 PointCloudIn::Ptr | PointCloudInPtr |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| 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 |
| typedef pcl::PointCloud< PointInT > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointIndices::Ptr | PointIndicesPtr |
| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
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. | |
| 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 (). | |
| 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. | |
| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. | |
| double | getSearchParameter () const |
| Get the internal search parameter. | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. | |
| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. | |
| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. | |
| 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 () | |
| void | computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () |
| Get a pointer to the input point cloud dataset. | |
| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| 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. | |
| IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. | |
| const PointInT & | operator[] (size_t pos) |
| Override PointCloud operator[] to shorten code. | |
Public Attributes | |
| int | nr_distance_bins_ |
| The number of distance bins in the descriptor. | |
| int | nr_intensity_bins_ |
| The number of intensity bins in the descriptor. | |
| float | sigma_ |
| The standard deviation of the Gaussian smoothing kernel used to construct the spin images. | |
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.
Definition at line 57 of file intensity_spin.h.
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited] |
Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.
typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::ConstPtr [inherited] |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT1344 >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::IntensityGradient >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PPFSignature >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT352 >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::Boundary >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::UniqueShapeContext< PointInT, pcl::SHOT, PointRFT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, pcl::Histogram< 32 > >, and pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >.
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited] |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr [inherited] |
Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >.
typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited] |
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited] |
Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.
Definition at line 76 of file pcl_base.h.
| typedef pcl::PointCloud<PointInT> pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudIn |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 70 of file intensity_spin.h.
typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr [inherited] |
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 71 of file intensity_spin.h.
typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited] |
Reimplemented in pcl::OrganizedFastMesh< PointInT >.
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited] |
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited] |
Definition at line 78 of file pcl_base.h.
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr [inherited] |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT1344 >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::IntensityGradient >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PPFSignature >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT352 >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::Boundary >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::UniqueShapeContext< PointInT, pcl::SHOT, PointRFT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, pcl::Histogram< 32 > >, and pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >.
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface [inherited] |
| pcl::IntensitySpinEstimation< PointInT, PointOutT >::IntensitySpinEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 74 of file intensity_spin.h.
| void pcl::Feature< PointInT, PointOutT >::compute | ( | PointCloudOut & | output | ) | [inherited] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::RangeImageBorderExtractor, pcl::ESFEstimation< PointInT, PointOutT >, and pcl::NarfDescriptor.
Definition at line 188 of file feature.hpp.
| void pcl::Feature< PointInT, PointOutT >::computeEigen | ( | pcl::PointCloud< Eigen::MatrixXf > & | output | ) | [inherited] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::SHOTColorEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >.
Definition at line 224 of file feature.hpp.
| 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 ().
| [out] | output | the resultant point cloud model dataset that contains the intensity-domain spin image features |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 109 of file intensity_spin.hpp.
| 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.
| [in] | cloud | the dataset containing the Cartesian coordinates and intensity values of the points |
| [in] | radius | the radius of the feature |
| [in] | sigma | the standard deviation of the Gaussian smoothing kernel to use during the soft histogram update |
| [in] | k | the number of neighbors to use from indices and squared_distances |
| [in] | indices | the indices of the points that comprise the query point's neighborhood |
| [in] | squared_distances | the squared distances from the query point to each point in the neighborhood |
| [out] | intensity_spin_image | the resultant intensity-domain spin image descriptor |
Definition at line 47 of file intensity_spin.hpp.
| IndicesPtr const pcl::PCLBase< PointInT >::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 190 of file pcl_base.h.
| PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 107 of file pcl_base.h.
| int pcl::Feature< PointInT, PointOutT >::getKSearch | ( | ) | const [inline, inherited] |
| int pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrDistanceBins | ( | ) | [inline] |
Returns the number of bins in the distance dimension of the spin image.
Definition at line 104 of file intensity_spin.h.
| int pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrIntensityBins | ( | ) | [inline] |
Returns the number of bins in the intensity dimension of the spin image.
Definition at line 114 of file intensity_spin.h.
| double pcl::Feature< PointInT, PointOutT >::getRadiusSearch | ( | ) | const [inline, inherited] |
| KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod | ( | ) | const [inline, inherited] |
| double pcl::Feature< PointInT, PointOutT >::getSearchParameter | ( | ) | const [inline, inherited] |
| PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface | ( | ) | const [inline, inherited] |
| 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 124 of file intensity_spin.h.
| const PointInT & pcl::PCLBase< PointInT >::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
| pos | position in indices_ vector |
Definition at line 197 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 113 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const IndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 124 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 135 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | size_t | row_start, |
| size_t | col_start, | ||
| size_t | nb_rows, | ||
| size_t | nb_cols | ||
| ) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
| row_start | the offset on rows |
| col_start | the offset on columns |
| nb_rows | the number of rows to be considered row_start included |
| nb_cols | the number of columns to be considered col_start included |
Definition at line 151 of file pcl_base.h.
| virtual void pcl::PCLBase< PointInT >::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
| cloud | the const boost shared pointer to a PointCloud message |
Definition at line 103 of file pcl_base.h.
| void pcl::Feature< PointInT, PointOutT >::setKSearch | ( | int | k | ) | [inline, inherited] |
Set the number of k nearest neighbors to use for the feature estimation.
| [in] | k | the number of k-nearest neighbors |
Reimplemented in pcl::RSDEstimation< PointInT, PointNT, 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.
| [in] | nr_distance_bins | the number of bins to use in the distance dimension of the spin image |
Definition at line 100 of file intensity_spin.h.
| 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.
| [in] | nr_intensity_bins | the number of bins to use in the intensity dimension of the spin image |
Definition at line 110 of file intensity_spin.h.
| void pcl::Feature< PointInT, PointOutT >::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, inherited] |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.
| [in] | cloud | a pointer to a PointCloud message |
| 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.
| [in] | sigma | the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images |
Definition at line 120 of file intensity_spin.h.
| int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_ |
The number of distance bins in the descriptor.
Definition at line 135 of file intensity_spin.h.
| int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_ |
The number of intensity bins in the descriptor.
Definition at line 138 of file intensity_spin.h.
| float pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_ |
The standard deviation of the Gaussian smoothing kernel used to construct the spin images.
Definition at line 141 of file intensity_spin.h.
1.7.6.1
