RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud dataset containing points and intensity. More...
#include <pcl/features/rift.h>
Public Types | |
| typedef pcl::PointCloud< PointInT > | PointCloudIn |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
| typedef pcl::PointCloud < GradientT > | PointCloudGradient |
| typedef PointCloudGradient::Ptr | PointCloudGradientPtr |
| typedef PointCloudGradient::ConstPtr | PointCloudGradientConstPtr |
| typedef boost::shared_ptr < RIFTEstimation< PointInT, GradientT, PointOutT > > | Ptr |
| typedef boost::shared_ptr < const RIFTEstimation < PointInT, GradientT, PointOutT > > | ConstPtr |
Public Member Functions | |
| RIFTEstimation () | |
| Empty constructor. | |
| void | setInputGradient (const PointCloudGradientConstPtr &gradient) |
| Provide a pointer to the input gradient data. | |
| PointCloudGradientConstPtr | getInputGradient () const |
| Returns a shared pointer to the input gradient data. | |
| void | setNrDistanceBins (int nr_distance_bins) |
| Set the number of bins to use in the distance dimension of the RIFT descriptor. | |
| int | getNrDistanceBins () const |
| Returns the number of bins in the distance dimension of the RIFT descriptor. | |
| void | setNrGradientBins (int nr_gradient_bins) |
| Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor. | |
| int | getNrGradientBins () const |
| Returns the number of bins in the gradient orientation dimension of the RIFT descriptor. | |
| void | computeRIFT (const PointCloudIn &cloud, const PointCloudGradient &gradient, int p_idx, float radius, const std::vector< int > &indices, const std::vector< float > &squared_distances, Eigen::MatrixXf &rift_descriptor) |
| Estimate the Rotation Invariant Feature Transform (RIFT) descriptor for a given point based on its spatial neighborhood of 3D points and the corresponding intensity gradient vector field. | |
Protected Member Functions | |
| void | computeFeature (PointCloudOut &output) |
| Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface (), the gradient in setInputGradient (), and the spatial locator in setSearchMethod (). | |
Protected Attributes | |
| PointCloudGradientConstPtr | gradient_ |
| The intensity gradient of the input point cloud data. | |
| int | nr_distance_bins_ |
| The number of distance bins in the descriptor. | |
| int | nr_gradient_bins_ |
| The number of gradient orientation bins in the descriptor. | |
RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud dataset containing points and intensity.
For more information about the RIFT descriptor, see:
Svetlana Lazebnik, Cordelia Schmid, and Jean Ponce. A sparse texture representation using local affine regions. In IEEE Transactions on Pattern Analysis and Machine Intelligence, volume 27, pages 1265-1278, August 2005.
Definition at line 60 of file rift.h.
| typedef boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::ConstPtr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| typedef pcl::PointCloud<GradientT> pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradient |
| typedef PointCloudGradient::ConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradientConstPtr |
| typedef PointCloudGradient::Ptr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradientPtr |
| typedef pcl::PointCloud<PointInT> pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudIn |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| typedef boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::Ptr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::RIFTEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 84 of file rift.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [inline, protected, virtual] |
Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface (), the gradient in setInputGradient (), and the spatial locator in setSearchMethod ().
| [out] | output | the resultant point cloud model dataset that contains the RIFT feature estimates |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 113 of file rift.hpp.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeRIFT(), pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_, pcl::PointCloud< PointT >::height, pcl::PCLBase< PointInT >::indices_, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_, pcl::PointCloud< PointT >::points, pcl::Feature< PointInT, PointOutT >::search_radius_, pcl::Feature< PointInT, PointOutT >::surface_, pcl::Feature< PointInT, PointOutT >::tree_, and pcl::PointCloud< PointT >::width.
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeRIFT | ( | const PointCloudIn & | cloud, | |
| const PointCloudGradient & | gradient, | |||
| int | p_idx, | |||
| float | radius, | |||
| const std::vector< int > & | indices, | |||
| const std::vector< float > & | squared_distances, | |||
| Eigen::MatrixXf & | rift_descriptor | |||
| ) | [inline] |
Estimate the Rotation Invariant Feature Transform (RIFT) descriptor for a given point based on its spatial neighborhood of 3D points and the corresponding intensity gradient vector field.
| [in] | cloud | the dataset containing the Cartesian coordinates of the points |
| [in] | gradient | the dataset containing the intensity gradient at each point in cloud |
| [in] | p_idx | the index of the query point in cloud (i.e. the center of the neighborhood) |
| [in] | radius | the radius of the RIFT feature |
| [in] | indices | the indices of the points that comprise p_idx's neighborhood in cloud |
| [in] | squared_distances | the squared distances from the query point to each point in the neighborhood |
| [out] | rift_descriptor | the resultant RIFT descriptor |
Definition at line 48 of file rift.hpp.
References pcl::PointCloud< PointT >::points.
Referenced by pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeFeature().
| PointCloudGradientConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getInputGradient | ( | ) | const [inline] |
Returns a shared pointer to the input gradient data.
Definition at line 97 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_.
| int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrDistanceBins | ( | ) | const [inline] |
Returns the number of bins in the distance dimension of the RIFT descriptor.
Definition at line 107 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_.
| int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrGradientBins | ( | ) | const [inline] |
Returns the number of bins in the gradient orientation dimension of the RIFT descriptor.
Definition at line 117 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_.
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setInputGradient | ( | const PointCloudGradientConstPtr & | gradient | ) | [inline] |
Provide a pointer to the input gradient data.
| [in] | gradient | a pointer to the input gradient data |
Definition at line 93 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_.
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrDistanceBins | ( | int | nr_distance_bins | ) | [inline] |
Set the number of bins to use in the distance dimension of the RIFT descriptor.
| [in] | nr_distance_bins | the number of bins to use in the distance dimension of the RIFT descriptor |
Definition at line 103 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_.
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrGradientBins | ( | int | nr_gradient_bins | ) | [inline] |
Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.
| [in] | nr_gradient_bins | the number of bins to use in the gradient orientation dimension of the RIFT descriptor |
Definition at line 113 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_.
PointCloudGradientConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_ [protected] |
The intensity gradient of the input point cloud data.
Definition at line 145 of file rift.h.
Referenced by pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeFeature(), pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getInputGradient(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setInputGradient().
int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_ [protected] |
The number of distance bins in the descriptor.
Definition at line 148 of file rift.h.
Referenced by pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeFeature(), pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrDistanceBins(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrDistanceBins().
int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_ [protected] |
The number of gradient orientation bins in the descriptor.
Definition at line 151 of file rift.h.
Referenced by pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeFeature(), pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrGradientBins(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrGradientBins().
