void computeFeature(PointCloudOut &output) override
Estimate the intensity-domain descriptors at a set of points given by
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
IntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud...
void setNrIntensityBins(std::size_t nr_intensity_bins)
Set the number of bins to use in the intensity dimension of the spin image.
int getNrDistanceBins()
Returns the number of bins in the distance dimension of the spin image.
IndicesAllocator<> Indices
Type used for indices in PCL.
int nr_intensity_bins_
The number of intensity bins in the descriptor.
int getNrIntensityBins()
Returns the number of bins in the intensity dimension of the spin image.
Feature represents the base feature class.
void computeIntensitySpinImage(const PointCloudIn &cloud, float radius, float sigma, int k, const pcl::Indices &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 neighborho...
float getSmoothingBandwith()
Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images...
shared_ptr< Feature< PointInT, PointOutT > > Ptr