Point Cloud Library (PCL)
1.9.1
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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 |
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typedef PCLBase< PointInT > | BaseClass |
typedef boost::shared_ptr < Feature< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const Feature< PointInT, PointOutT > > | ConstPtr |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud < PointOutT > | PointCloudOut |
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)> | SearchMethodSurface |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
RIFTEstimation () | |
Empty constructor. More... | |
void | setInputGradient (const PointCloudGradientConstPtr &gradient) |
Provide a pointer to the input gradient data. More... | |
PointCloudGradientConstPtr | getInputGradient () const |
Returns a shared pointer to the input gradient data. More... | |
void | setNrDistanceBins (int nr_distance_bins) |
Set the number of bins to use in the distance dimension of the RIFT descriptor. More... | |
int | getNrDistanceBins () const |
Returns the number of bins in the distance dimension of the RIFT descriptor. More... | |
void | setNrGradientBins (int nr_gradient_bins) |
Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor. More... | |
int | getNrGradientBins () const |
Returns the number of bins in the gradient orientation dimension of the RIFT descriptor. More... | |
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. More... | |
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Feature () | |
Empty constructor. More... | |
virtual | ~Feature () |
Empty destructor. More... | |
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... | |
PointCloudInConstPtr | getSearchSurface () const |
Get a pointer to the surface point cloud dataset. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... | |
KdTreePtr | getSearchMethod () const |
Get a pointer to the search method used. More... | |
double | getSearchParameter () const |
Get the internal search parameter. More... | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... | |
int | getKSearch () const |
get the number of k nearest neighbors used for the feature estimation. More... | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... | |
double | getRadiusSearch () const |
Get the sphere radius used for determining the neighbors. More... | |
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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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
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 () More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | initCompute () |
This method should get called before starting the actual computation. More... | |
virtual bool | deinitCompute () |
This method should get called after ending the actual computation. More... | |
int | searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
int | searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &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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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
PointCloudGradientConstPtr | gradient_ |
The intensity gradient of the input point cloud data. More... | |
int | nr_distance_bins_ |
The number of distance bins in the descriptor. More... | |
int | nr_gradient_bins_ |
The number of gradient orientation bins in the descriptor. More... | |
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std::string | feature_name_ |
The feature name. More... | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. More... | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
double | search_parameter_ |
The actual search parameter (from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
The number of K nearest neighbors to use for each point. More... | |
bool | fake_surface_ |
If no surface is given, we use the input PointCloud as the surface. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
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.
typedef boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::ConstPtr |
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 |
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudOut |
typedef boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::Ptr |
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inline |
Empty constructor.
Definition at line 84 of file rift.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
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protectedvirtual |
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::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, 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 | ||
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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.
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Returns a shared pointer to the input gradient data.
Definition at line 97 of file rift.h.
References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_.
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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_.
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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_.
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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_.
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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_.
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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_.
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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 >::getInputGradient(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setInputGradient().
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The number of distance bins in the descriptor.
Definition at line 148 of file rift.h.
Referenced by pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrDistanceBins(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrDistanceBins().
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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 >::getNrGradientBins(), and pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrGradientBins().