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, Eigen::MatrixXf >:

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Collaboration diagram for pcl::IntensitySpinEstimation< PointInT, Eigen::MatrixXf >:

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Public Types
typedef pcl::PointCloud< PointInT >	PointCloudIn

typedef Feature< PointInT, pcl::Histogram < 20 > >::PointCloudOut	PointCloudOut

typedef PCLBase< PointInT >	BaseClass

typedef boost::shared_ptr < Feature< PointInT, pcl::Histogram< 20 > > >	Ptr

typedef boost::shared_ptr < const Feature< PointInT, pcl::Histogram< 20 > > >	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
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...

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...

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 () More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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...

const PointInT &	operator[] (size_t pos)
	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...

Detailed Description

template<typename PointInT>
class pcl::IntensitySpinEstimation< PointInT, Eigen::MatrixXf >

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 162 of file intensity_spin.h.

Member Typedef Documentation

typedef PCLBase<PointInT> pcl::Feature< PointInT, pcl::Histogram< 20 > >::BaseClass

inherited

Definition at line 110 of file feature.h.

typedef boost::shared_ptr< const Feature<PointInT, pcl::Histogram< 20 > > > pcl::Feature< PointInT, pcl::Histogram< 20 > >::ConstPtr

inherited

Definition at line 113 of file feature.h.

typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, pcl::Histogram< 20 > >::KdTree

inherited

Definition at line 115 of file feature.h.

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, pcl::Histogram< 20 > >::KdTreePtr

inherited

Definition at line 116 of file feature.h.

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

Definition at line 76 of file pcl_base.h.

typedef pcl::PointCloud<PointInT> pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::PointCloudIn

inherited

Definition at line 70 of file intensity_spin.h.

typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, pcl::Histogram< 20 > >::PointCloudInConstPtr

inherited

Definition at line 120 of file feature.h.

typedef PointCloudIn::Ptr pcl::Feature< PointInT, pcl::Histogram< 20 > >::PointCloudInPtr

inherited

Definition at line 119 of file feature.h.

typedef Feature<PointInT, pcl::Histogram< 20 > >::PointCloudOut pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::PointCloudOut

inherited

Definition at line 71 of file intensity_spin.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr

inherited

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, pcl::Histogram< 20 > > > pcl::Feature< PointInT, pcl::Histogram< 20 > >::Ptr

inherited

Definition at line 112 of file feature.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::Histogram< 20 > >::SearchMethod

inherited

Definition at line 124 of file feature.h.

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::Histogram< 20 > >::SearchMethodSurface

inherited

Definition at line 125 of file feature.h.

Member Function Documentation

void pcl::Feature< PointInT, pcl::Histogram< 20 > >::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 ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

void pcl::Feature< PointInT, pcl::Histogram< 20 > >::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 ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

void pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::computeFeature ( PointCloudOut & output )

virtualinherited

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, pcl::Histogram< 20 > >.

void pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::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
	)

inherited

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

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

int pcl::Feature< PointInT, pcl::Histogram< 20 > >::getKSearch ( ) const

inlineinherited

get the number of k nearest neighbors used for the feature estimation.

Definition at line 186 of file feature.h.

int pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::getNrDistanceBins ( )

inlineinherited

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, pcl::Histogram< 20 > >::getNrIntensityBins ( )

inlineinherited

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, pcl::Histogram< 20 > >::getRadiusSearch ( ) const

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

KdTreePtr pcl::Feature< PointInT, pcl::Histogram< 20 > >::getSearchMethod ( ) const

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

double pcl::Feature< PointInT, pcl::Histogram< 20 > >::getSearchParameter ( ) const

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

PointCloudInConstPtr pcl::Feature< PointInT, pcl::Histogram< 20 > >::getSearchSurface ( ) const

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

float pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::getSmoothingBandwith ( )

inlineinherited

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 )

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

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 )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

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 )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

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
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

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 )

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

void pcl::Feature< PointInT, pcl::Histogram< 20 > >::setKSearch ( int k )

inlineinherited

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

[in] k the number of k-nearest neighbors

Definition at line 182 of file feature.h.

void pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::setNrDistanceBins ( size_t nr_distance_bins )

inlineinherited

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 100 of file intensity_spin.h.

void pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::setNrIntensityBins ( size_t nr_intensity_bins )

inlineinherited

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 110 of file intensity_spin.h.

void pcl::Feature< PointInT, pcl::Histogram< 20 > >::setRadiusSearch ( double radius )

inlineinherited

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 196 of file feature.h.

void pcl::Feature< PointInT, pcl::Histogram< 20 > >::setSearchMethod ( const KdTreePtr & tree )

inlineinherited

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 162 of file feature.h.

void pcl::Feature< PointInT, pcl::Histogram< 20 > >::setSearchSurface ( const PointCloudInConstPtr & cloud )

inlineinherited

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.

Parameters

[in] cloud a pointer to a PointCloud message

Definition at line 144 of file feature.h.

void pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::setSmoothingBandwith ( float sigma )

inlineinherited

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 120 of file intensity_spin.h.

Member Data Documentation

int pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::nr_distance_bins_

inherited

The number of distance bins in the descriptor.

Definition at line 135 of file intensity_spin.h.

int pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::nr_intensity_bins_

inherited

The number of intensity bins in the descriptor.

Definition at line 138 of file intensity_spin.h.

float pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >::sigma_

inherited

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

Definition at line 141 of file intensity_spin.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/intensity_spin.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/intensity_spin.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<typename PointInT> class pcl::IntensitySpinEstimation< PointInT, Eigen::MatrixXf >

Member Typedef Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT>
class pcl::IntensitySpinEstimation< PointInT, Eigen::MatrixXf >