gtsam_points::IntensityGradients Class Reference

Intensity gradients for colored ICP Park et al., "Colored Point Cloud Registration Revisited", ICCV2017. More...

#include <intensity_gradients.hpp>

Public Types
using	Ptr = std::shared_ptr< IntensityGradients >
using	ConstPtr = std::shared_ptr< const IntensityGradients >

Static Public Member Functions
static IntensityGradients::Ptr	estimate (const PointCloud::ConstPtr &frame, int k_neighbors=10, int num_threads=1)
	Estimate intensity gradients of points.
static IntensityGradients::Ptr	estimate (const gtsam_points::PointCloudCPU::Ptr &frame, int k_geom_neighbors=10, int k_photo_neighbors=20, int num_threads=1)
	Estimate normals, covs, and intensity gradients.
static IntensityGradients::Ptr	estimate (const PointCloud::ConstPtr &frame, const std::vector< int > &neighbors, int k_photo_neighbors)

Public Attributes
std::vector< Eigen::Vector4d >	intensity_gradients

Detailed Description

Intensity gradients for colored ICP Park et al., "Colored Point Cloud Registration Revisited", ICCV2017.

Member Function Documentation

estimate() [1/2]

static IntensityGradients::Ptr gtsam_points::IntensityGradients::estimate ( const gtsam_points::PointCloudCPU::Ptr &  frame, int  k_geom_neighbors = 10, int  k_photo_neighbors = 20, int  num_threads = 1  )

static

Estimate normals, covs, and intensity gradients.

Note

If frame doesn't have normals and covs, these attributes are also estimated alongside intensity gradients

Parameters

frame	[in/out] Input frame
k_geom_neighbors	Number of neighbors used for normal and covariance estimation
k_photo_neighbors	Number of neighbors used for intensity gradient estimation
num_threads	Number of threads

estimate() [2/2]

static IntensityGradients::Ptr gtsam_points::IntensityGradients::estimate ( const PointCloud::ConstPtr &  frame, int  k_neighbors = 10, int  num_threads = 1  )

static

Estimate intensity gradients of points.

Note

frame is required to have normals and intensities

Parameters

frame	Input frame
k_neighbors	Number of neighbors used for intensity gradient estimation
num_threads	Number of threads

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The documentation for this class was generated from the following file:

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/factors/intensity_gradients.hpp