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> >
102 const Eigen::Vector3f &point,
104 const Eigen::Vector3f &normal,
105 Eigen::Vector3f &gradient);
115#ifdef PCL_NO_PRECOMPILE
116#include <pcl/features/impl/intensity_gradient.hpp>
Iterator class for point clouds with or without given indices.
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
const std::string & getClassName() const
Get a string representation of the name of this class.
int k_
The number of K nearest neighbors to use for each point.
std::string feature_name_
The feature name.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
IntensityGradientEstimation estimates the intensity gradient for a point cloud that contains position...
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
void computePointIntensityGradient(const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &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.
IntensitySelectorT intensity_
intensity field accessor structure
void computeFeature(PointCloudOut &output) override
Estimate the intensity gradients for a set of points given in <setInputCloud (), setIndices ()> using...
unsigned int threads_
number of threads to be used, default 0 (auto)
IntensityGradientEstimation()
Empty constructor.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
IndicesPtr indices_
A pointer to the vector of point indices to use.
IndicesAllocator<> Indices
Type used for indices in PCL.