118 lines
5.3 KiB
C++
118 lines
5.3 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/features/feature.h>
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#include <pcl/common/intensity.h>
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namespace pcl
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{
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/** \brief IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position
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* and intensity values. The intensity gradient at a given point will be a vector orthogonal to the surface
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* normal and pointing in the direction of the greatest increase in local intensity; the vector's magnitude
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* indicates the rate of intensity change.
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* \author Michael Dixon
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* \ingroup features
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*/
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template <typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT> >
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class IntensityGradientEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> >;
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using ConstPtr = shared_ptr<const IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> >;
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using Feature<PointInT, PointOutT>::feature_name_;
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using Feature<PointInT, PointOutT>::getClassName;
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using Feature<PointInT, PointOutT>::indices_;
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using Feature<PointInT, PointOutT>::surface_;
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using Feature<PointInT, PointOutT>::k_;
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using Feature<PointInT, PointOutT>::search_parameter_;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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/** \brief Empty constructor. */
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IntensityGradientEstimation () : intensity_ (), threads_ (0)
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{
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feature_name_ = "IntensityGradientEstimation";
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};
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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inline void
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setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
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protected:
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/** \brief Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using
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* the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
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* \param output the resultant point cloud that contains the intensity gradient vectors
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*/
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void
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computeFeature (PointCloudOut &output) override;
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/** \brief Estimate the intensity gradient around a given point based on its spatial neighborhood of points
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* \param cloud a point cloud dataset containing XYZI coordinates (Cartesian coordinates + intensity)
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* \param indices the indices of the neighoring points in the dataset
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* \param point the 3D Cartesian coordinates of the point at which to estimate the gradient
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* \param mean_intensity
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* \param normal the 3D surface normal of the given point
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* \param gradient the resultant 3D gradient vector
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*/
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void
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computePointIntensityGradient (const pcl::PointCloud<PointInT> &cloud,
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const pcl::Indices &indices,
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const Eigen::Vector3f &point,
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float mean_intensity,
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const Eigen::Vector3f &normal,
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Eigen::Vector3f &gradient);
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protected:
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///intensity field accessor structure
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IntensitySelectorT intensity_;
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///number of threads to be used, default 0 (auto)
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unsigned int threads_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/intensity_gradient.hpp>
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#endif
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