Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 #ifndef PCL_INTENSITY_GRADIENT_H_ 00041 #define PCL_INTENSITY_GRADIENT_H_ 00042 00043 #include <pcl/features/feature.h> 00044 #include <pcl/common/intensity.h> 00045 00046 namespace pcl 00047 { 00048 /** \brief IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position 00049 * and intensity values. The intensity gradient at a given point will be a vector orthogonal to the surface 00050 * normal and pointing in the direction of the greatest increase in local intensity; the vector's magnitude 00051 * indicates the rate of intensity change. 00052 * \author Michael Dixon 00053 * \ingroup features 00054 */ 00055 template <typename PointInT, typename PointNT, typename PointOutT, typename IntensitySelectorT = pcl::common::IntensityFieldAccessor<PointInT> > 00056 class IntensityGradientEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00057 { 00058 public: 00059 typedef boost::shared_ptr<IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> > Ptr; 00060 typedef boost::shared_ptr<const IntensityGradientEstimation<PointInT, PointNT, PointOutT, IntensitySelectorT> > ConstPtr; 00061 using Feature<PointInT, PointOutT>::feature_name_; 00062 using Feature<PointInT, PointOutT>::getClassName; 00063 using Feature<PointInT, PointOutT>::indices_; 00064 using Feature<PointInT, PointOutT>::surface_; 00065 using Feature<PointInT, PointOutT>::k_; 00066 using Feature<PointInT, PointOutT>::search_parameter_; 00067 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00068 00069 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00070 00071 /** \brief Empty constructor. */ 00072 IntensityGradientEstimation () : intensity_ (), threads_ (0) 00073 { 00074 feature_name_ = "IntensityGradientEstimation"; 00075 }; 00076 00077 /** \brief Initialize the scheduler and set the number of threads to use. 00078 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic) 00079 */ 00080 inline void 00081 setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; } 00082 00083 protected: 00084 /** \brief Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using 00085 * the surface in setSearchSurface () and the spatial locator in setSearchMethod (). 00086 * \param output the resultant point cloud that contains the intensity gradient vectors 00087 */ 00088 void 00089 computeFeature (PointCloudOut &output); 00090 00091 /** \brief Estimate the intensity gradient around a given point based on its spatial neighborhood of points 00092 * \param cloud a point cloud dataset containing XYZI coordinates (Cartesian coordinates + intensity) 00093 * \param indices the indices of the neighoring points in the dataset 00094 * \param point the 3D Cartesian coordinates of the point at which to estimate the gradient 00095 * \param normal the 3D surface normal of the given point 00096 * \param gradient the resultant 3D gradient vector 00097 */ 00098 void 00099 computePointIntensityGradient (const pcl::PointCloud<PointInT> &cloud, 00100 const std::vector<int> &indices, 00101 const Eigen::Vector3f &point, 00102 float mean_intensity, 00103 const Eigen::Vector3f &normal, 00104 Eigen::Vector3f &gradient); 00105 00106 protected: 00107 ///intensity field accessor structure 00108 IntensitySelectorT intensity_; 00109 ///number of threads to be used, default 0 (auto) 00110 unsigned int threads_; 00111 }; 00112 } 00113 00114 #ifdef PCL_NO_PRECOMPILE 00115 #include <pcl/features/impl/intensity_gradient.hpp> 00116 #endif 00117 00118 #endif // #ifndef PCL_INTENSITY_GRADIENT_H_