intensity_gradients.hpp

// SPDX-License-Identifier: MIT
// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)
 
#pragma once
 
#include <memory>
#include <vector>
#include <Eigen/Core>
 
#include <gtsam_points/types/point_cloud.hpp>
#include <gtsam_points/types/point_cloud_cpu.hpp>
#include <gtsam_points/types/frame_traits.hpp>
 
namespace gtsam_points {
 
class IntensityGradients {
public:
  using Ptr = std::shared_ptr<IntensityGradients>;
  using ConstPtr = std::shared_ptr<const IntensityGradients>;
 
  static IntensityGradients::Ptr estimate(const PointCloud::ConstPtr& frame, int k_neighbors = 10, int num_threads = 1);
 
  static IntensityGradients::Ptr
  estimate(const gtsam_points::PointCloudCPU::Ptr& frame, int k_geom_neighbors = 10, int k_photo_neighbors = 20, int num_threads = 1);
 
  static IntensityGradients::Ptr estimate(const PointCloud::ConstPtr& frame, const std::vector<int>& neighbors, int k_photo_neighbors);
 
public:
  std::vector<Eigen::Vector4d> intensity_gradients;
};
 
namespace frame {
 
template <>
struct traits<IntensityGradients> {
  static const Eigen::Vector4d& intensity_gradient(const IntensityGradients& grads, size_t i) { return grads.intensity_gradients[i]; }
};
 
}  // namespace frame
 
}  // namespace gtsam_points