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 >:

Collaboration diagram for pcl::IntensitySpinEstimation< PointInT, PointOutT >:

Public Types
using	Ptr = shared_ptr< IntensitySpinEstimation< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const IntensitySpinEstimation< PointInT, PointOutT > >

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut

Public Types inherited from pcl::Feature< PointInT, PointOutT >
using	BaseClass = PCLBase< PointInT >

using	Ptr = shared_ptr< Feature< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > >

using	KdTree = pcl::search::Search< PointInT >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< PointOutT >

using	SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	IntensitySpinEstimation ()
	Empty constructor. More...

void	computeIntensitySpinImage (const PointCloudIn &cloud, float radius, float sigma, int k, const pcl::Indices &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 (std::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 (std::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) override
	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...

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 ()=default
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	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[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Public Attributes
int	nr_distance_bins_ {4}
	The number of distance bins in the descriptor. More...

int	nr_intensity_bins_ {5}
	The number of intensity bins in the descriptor. More...

float	sigma_ {1.0}
	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 (std::size_t index, double parameter, pcl::Indices &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, std::size_t index, double parameter, pcl::Indices &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

◆ ConstPtr

template<typename PointInT , typename PointOutT >

using pcl::IntensitySpinEstimation< PointInT, PointOutT >::ConstPtr = shared_ptr<const IntensitySpinEstimation<PointInT, PointOutT> >

Definition at line 62 of file intensity_spin.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT >

using pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 73 of file intensity_spin.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >

using pcl::IntensitySpinEstimation< PointInT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 74 of file intensity_spin.h.

◆ Ptr

template<typename PointInT , typename PointOutT >

using pcl::IntensitySpinEstimation< PointInT, PointOutT >::Ptr = shared_ptr<IntensitySpinEstimation<PointInT, PointOutT> >

Definition at line 61 of file intensity_spin.h.

Constructor & Destructor Documentation

◆ IntensitySpinEstimation()

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

◆ computeFeature()

template<typename PointInT , typename PointOutT >

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut & output )

overridevirtual

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] output the 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< PointT >::clear(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::width.

◆ computeIntensitySpinImage()

template<typename PointInT , typename PointOutT >

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::computeIntensitySpinImage	(	const PointCloudIn &	cloud,
		float	radius,
		float	sigma,
		int	k,
		const pcl::Indices &	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]	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 48 of file intensity_spin.hpp.

◆ getNrDistanceBins()

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_.

◆ getNrIntensityBins()

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_.

◆ getSmoothingBandwith()

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_.

◆ setNrDistanceBins()

template<typename PointInT , typename PointOutT >

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::setNrDistanceBins ( std::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_bins the 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_.

◆ setNrIntensityBins()

template<typename PointInT , typename PointOutT >

void pcl::IntensitySpinEstimation< PointInT, PointOutT >::setNrIntensityBins ( std::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_bins the 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_.

◆ setSmoothingBandwith()

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] sigma the 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

◆ nr_distance_bins_

template<typename PointInT , typename PointOutT >

int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_distance_bins_ {4}

The number of distance bins in the descriptor.

Definition at line 138 of file intensity_spin.h.

Referenced by pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrDistanceBins(), and pcl::IntensitySpinEstimation< PointInT, PointOutT >::setNrDistanceBins().

◆ nr_intensity_bins_

template<typename PointInT , typename PointOutT >

int pcl::IntensitySpinEstimation< PointInT, PointOutT >::nr_intensity_bins_ {5}

The number of intensity bins in the descriptor.

Definition at line 141 of file intensity_spin.h.

Referenced by pcl::IntensitySpinEstimation< PointInT, PointOutT >::getNrIntensityBins(), and pcl::IntensitySpinEstimation< PointInT, PointOutT >::setNrIntensityBins().

◆ sigma_

template<typename PointInT , typename PointOutT >

float pcl::IntensitySpinEstimation< PointInT, PointOutT >::sigma_ {1.0}

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:

pcl/features/intensity_spin.h
pcl/features/impl/intensity_spin.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::IntensitySpinEstimation< PointInT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ IntensitySpinEstimation()

Member Function Documentation

◆ computeFeature()

◆ computeIntensitySpinImage()

◆ getNrDistanceBins()

◆ getNrIntensityBins()

◆ getSmoothingBandwith()

◆ setNrDistanceBins()

◆ setNrIntensityBins()

◆ setSmoothingBandwith()

Member Data Documentation

◆ nr_distance_bins_

◆ nr_intensity_bins_

◆ sigma_

template<typename PointInT, typename PointOutT>
class pcl::IntensitySpinEstimation< PointInT, PointOutT >