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/PointCloudLibraryRIFTEstimation 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 | |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
| using | PointCloudGradient = pcl::PointCloud< GradientT > |
| using | PointCloudGradientPtr = typename PointCloudGradient::Ptr |
| using | PointCloudGradientConstPtr = typename PointCloudGradient::ConstPtr |
| using | Ptr = shared_ptr< RIFTEstimation< PointInT, GradientT, PointOutT > > |
| using | ConstPtr = shared_ptr< const RIFTEstimation< PointInT, GradientT, PointOutT > > |
 Public Types inherited from pcl::Feature< PointInT, PointOutT >
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| using | BaseClass = PCLBase< PointInT > |
| using | Ptr = shared_ptr< Feature< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > > |
| using | KdTree = pcl::search::Search< PointInT > |
| using | KdTreePtr = typename KdTree::Ptr |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudInPtr = typename PointCloudIn::Ptr |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
| using | PointCloudOut = pcl::PointCloud< PointOutT > |
| using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
| using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
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Public Types inherited from pcl::PCLBase< PointInT >
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| using | PointCloud = pcl::PointCloud< PointInT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
| RIFTEstimation () | |
| Empty constructor. More... |
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| void | setInputGradient (const PointCloudGradientConstPtr &gradient) |
| Provide a pointer to the input gradient data. More... |
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| PointCloudGradientConstPtr | getInputGradient () const |
| Returns a shared pointer to the input gradient data. More... |
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| void | setNrDistanceBins (int nr_distance_bins) |
| Set the number of bins to use in the distance dimension of the RIFT descriptor. More... |
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| int | getNrDistanceBins () const |
| Returns the number of bins in the distance dimension of the RIFT descriptor. More... |
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| void | setNrGradientBins (int nr_gradient_bins) |
| Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor. More... |
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| int | getNrGradientBins () const |
| Returns the number of bins in the gradient orientation dimension of the RIFT descriptor. More... |
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| void | computeRIFT (const PointCloudIn &cloud, const PointCloudGradient &gradient, int p_idx, float radius, const pcl::Indices &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. More... |
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Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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| Feature () | |
| Empty constructor. More... |
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| virtual | ~Feature () |
| Empty destructor. More... |
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| void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More... |
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| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... |
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| double | getSearchParameter () const |
| Get the internal search parameter. More... |
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| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... |
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| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... |
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| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... |
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| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... |
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| void | compute (PointCloudOut &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... |
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Public Member Functions inherited from pcl::PCLBase< PointInT >
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions | |
| void | computeFeature (PointCloudOut &output) override |
| 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 () More... |
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Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... |
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| int | searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... |
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| int | searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... |
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Protected Member Functions inherited from pcl::PCLBase< PointInT >
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes | |
| PointCloudGradientConstPtr | gradient_ |
| The intensity gradient of the input point cloud data. More... |
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| int | nr_distance_bins_ |
| The number of distance bins in the descriptor. More... |
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| int | nr_gradient_bins_ |
| The number of gradient orientation bins in the descriptor. More... |
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Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
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| std::string | feature_name_ |
| The feature name. More... |
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| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... |
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| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| int | k_ |
| The number of K nearest neighbors to use for each point. More... |
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| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... |
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Protected Attributes inherited from pcl::PCLBase< PointInT >
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointInT, typename GradientT, typename PointOutT>
class pcl::RIFTEstimation< PointInT, GradientT, PointOutT >
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.
Member Typedef Documentation
ConstPtr
| using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::ConstPtr = shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > |
PointCloudGradient
| using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradient = pcl::PointCloud<GradientT> |
PointCloudGradientConstPtr
| using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradientConstPtr = typename PointCloudGradient::ConstPtr |
PointCloudGradientPtr
| using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradientPtr = typename PointCloudGradient::Ptr |
PointCloudIn
| using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT> |
PointCloudOut
| using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Ptr
| using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::Ptr = shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > |
Constructor & Destructor Documentation
RIFTEstimation()
| inline |
Empty constructor.
Definition at line 83 of file rift.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
Member Function Documentation
computeFeature()
| overrideprotectedvirtual |
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 ()
- Parameters
-
[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::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.
computeRIFT()
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeRIFT | ( | const PointCloudIn & | cloud, |
| const PointCloudGradient & | gradient, | ||
| int | p_idx, | ||
| float | radius, | ||
| const pcl::Indices & | 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.
- Parameters
-
[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 M_PI.
getInputGradient()
| inline |
Returns a shared pointer to the input gradient data.
Definition at line 96 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_.
getNrDistanceBins()
| inline |
Returns the number of bins in the distance dimension of the RIFT descriptor.
Definition at line 106 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_.
getNrGradientBins()
| inline |
Returns the number of bins in the gradient orientation dimension of the RIFT descriptor.
Definition at line 116 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_.
setInputGradient()
| inline |
Provide a pointer to the input gradient data.
- Parameters
-
[in] gradient a pointer to the input gradient data
Definition at line 92 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_.
setNrDistanceBins()
| inline |
Set the number of bins to use in the distance dimension of the RIFT descriptor.
- Parameters
-
[in] nr_distance_bins the number of bins to use in the distance dimension of the RIFT descriptor
Definition at line 102 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_.
setNrGradientBins()
| inline |
Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.
- Parameters
-
[in] nr_gradient_bins the number of bins to use in the gradient orientation dimension of the RIFT descriptor
Definition at line 112 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_.
Member Data Documentation
gradient_
| protected |
The intensity gradient of the input point cloud data.
Definition at line 144 of file rift.h.
Referenced by pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getInputGradient(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setInputGradient().
nr_distance_bins_
| protected |
The number of distance bins in the descriptor.
Definition at line 147 of file rift.h.
Referenced by pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrDistanceBins(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrDistanceBins().
nr_gradient_bins_
| protected |
The number of gradient orientation bins in the descriptor.
Definition at line 150 of file rift.h.
Referenced by pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrGradientBins(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrGradientBins().
The documentation for this class was generated from the following files:
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_r_i_f_t_estimation.html