Point Cloud Library (PCL)
1.9.1
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40 #ifndef PCL_INTENSITY_GRADIENT_H_
41 #define PCL_INTENSITY_GRADIENT_H_
43 #include <pcl/features/feature.h>
44 #include <pcl/common/intensity.h>
55 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT,
typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<Po
intInT> >
59 typedef boost::shared_ptr<IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> >
Ptr;
60 typedef boost::shared_ptr<const IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> >
ConstPtr;
101 const std::vector<int> &indices,
102 const Eigen::Vector3f &point,
103 float mean_intensity,
104 const Eigen::Vector3f &normal,
105 Eigen::Vector3f &gradient);
115 #ifdef PCL_NO_PRECOMPILE
116 #include <pcl/features/impl/intensity_gradient.hpp>
119 #endif // #ifndef PCL_INTENSITY_GRADIENT_H_
This file defines compatibility wrappers for low level I/O functions.
IntensityGradientEstimation()
Empty constructor.
PointCloud represents the base class in PCL for storing collections of 3D points.
unsigned int threads_
number of threads to be used, default 0 (auto)
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)
Estimate the intensity gradient around a given point based on its spatial neighborhood of points.
void computeFeature(PointCloudOut &output)
Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using...
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position...
boost::shared_ptr< const IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT > > ConstPtr
boost::shared_ptr< IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT > > Ptr
IntensitySelectorT intensity_
intensity field accessor structure
std::string feature_name_
The feature name.
Feature represents the base feature class.