intensity_gradient.h

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/*
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 * $Id: intensity_gradient.h 6144 2012-07-04 22:06:28Z rusu $
 *
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#ifndef PCL_INTENSITY_GRADIENT_H_
#define PCL_INTENSITY_GRADIENT_H_

#include <pcl/features/feature.h>
#include <pcl/common/intensity.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT> >
  class IntensityGradientEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      IntensityGradientEstimation ()
      {
        feature_name_ = "IntensityGradientEstimation";
        threads_ = 1;
      };

      inline void
      setNumberOfThreads (int nr_threads)
      {
        threads_ = nr_threads == 0 ? 1 : nr_threads;
      }

    protected:
      void
      computeFeature (PointCloudOut &output);

      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);

    private:
      void
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}

    protected:
      IntensitySelectorT intensity_;
      int threads_;
  };

  template <typename PointInT, typename PointNT>
  class IntensityGradientEstimation<PointInT, PointNT, Eigen::MatrixXf>: public IntensityGradientEstimation<PointInT, PointNT, pcl::IntensityGradient>
  {
    public:
      using IntensityGradientEstimation<PointInT, PointNT, pcl::IntensityGradient>::indices_;
      using IntensityGradientEstimation<PointInT, PointNT, pcl::IntensityGradient>::normals_;
      using IntensityGradientEstimation<PointInT, PointNT, pcl::IntensityGradient>::input_;
      using IntensityGradientEstimation<PointInT, PointNT, pcl::IntensityGradient>::surface_;
      using IntensityGradientEstimation<PointInT, PointNT, pcl::IntensityGradient>::k_;
      using IntensityGradientEstimation<PointInT, PointNT, pcl::IntensityGradient>::search_parameter_;
      using IntensityGradientEstimation<PointInT, PointNT, pcl::IntensityGradient>::compute;

    protected:
      void
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);

      void
      compute (pcl::PointCloud<pcl::Normal> &) {}
  };
}

#endif // #ifndef PCL_INTENSITY_GRADIENT_H_