intensity_spin.h

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 * $Id: intensity_spin.h 5026 2012-03-12 02:51:44Z rusu $
 *
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#ifndef PCL_INTENSITY_SPIN_H_
#define PCL_INTENSITY_SPIN_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT>
  class IntensitySpinEstimation: public Feature<PointInT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;

      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::surface_;

      using Feature<PointInT, PointOutT>::tree_;
      using Feature<PointInT, PointOutT>::search_radius_;
      
      typedef typename pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      IntensitySpinEstimation () : nr_distance_bins_ (4), nr_intensity_bins_ (5), sigma_ (1.0)
      {
        feature_name_ = "IntensitySpinEstimation";
      };

      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);

      inline void 
      setNrDistanceBins (size_t nr_distance_bins) { nr_distance_bins_ = static_cast<int> (nr_distance_bins); };

      inline int 
      getNrDistanceBins () { return (nr_distance_bins_); };

      inline void 
      setNrIntensityBins (size_t nr_intensity_bins) { nr_intensity_bins_ = static_cast<int> (nr_intensity_bins); };

      inline int 
      getNrIntensityBins () { return (nr_intensity_bins_); };

      inline void 
      setSmoothingBandwith (float sigma) { sigma_ = sigma; };

      inline float 
      getSmoothingBandwith () { return (sigma_); };


      void 
      computeFeature (PointCloudOut &output);
    
      int nr_distance_bins_;

      int nr_intensity_bins_;

      float sigma_;

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

  template <typename PointInT>
  class IntensitySpinEstimation<PointInT, Eigen::MatrixXf>: public IntensitySpinEstimation<PointInT, pcl::Histogram<20> >
  {
    public:
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::getClassName;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::input_;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::indices_;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::surface_;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::search_radius_;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::nr_intensity_bins_;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::nr_distance_bins_;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::tree_;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::sigma_;
      using IntensitySpinEstimation<PointInT, pcl::Histogram<20> >::compute;

    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);
    
      void 
      compute (pcl::PointCloud<pcl::Normal> &) {}
  };
}

#endif // #ifndef PCL_INTENSITY_SPIN_H_