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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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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 |
| typedef PCLBase< PointInT > | BaseClass |
| typedef pcl::search::Search < PointInT > | KdTree |
| typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| 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 |
| typedef pcl::PointCloud< PointInT > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointIndices::Ptr | PointIndicesPtr |
| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
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. | |
| 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. | |
| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. | |
| double | getSearchParameter () const |
| Get the internal search parameter. | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. | |
| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. | |
| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. | |
| 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 () | |
| void | computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () |
| Get a pointer to the input point cloud dataset. | |
| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| 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. | |
| IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. | |
| const PointInT & | operator[] (size_t pos) |
| Override PointCloud operator[] to shorten code. | |
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 PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited] |
Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.
| typedef boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::ConstPtr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited] |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr [inherited] |
Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >.
typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited] |
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited] |
Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.
Definition at line 76 of file pcl_base.h.
| 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 PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr [inherited] |
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited] |
Reimplemented in pcl::OrganizedFastMesh< PointInT >.
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited] |
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited] |
Definition at line 78 of file pcl_base.h.
| typedef boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::Ptr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface [inherited] |
| pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::RIFTEstimation | ( | ) | [inline] |
| void pcl::Feature< PointInT, PointOutT >::compute | ( | PointCloudOut & | output | ) | [inherited] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::RangeImageBorderExtractor, pcl::ESFEstimation< PointInT, PointOutT >, and pcl::NarfDescriptor.
Definition at line 188 of file feature.hpp.
| void pcl::Feature< PointInT, PointOutT >::computeEigen | ( | pcl::PointCloud< Eigen::MatrixXf > & | output | ) | [inherited] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::SHOTColorEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >.
Definition at line 224 of file feature.hpp.
| 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 | ||
| ) |
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 |
| IndicesPtr const pcl::PCLBase< PointInT >::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 190 of file pcl_base.h.
| PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 107 of file pcl_base.h.
| PointCloudGradientConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getInputGradient | ( | ) | const [inline] |
| int pcl::Feature< PointInT, PointOutT >::getKSearch | ( | ) | const [inline, inherited] |
| int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrDistanceBins | ( | ) | const [inline] |
| int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrGradientBins | ( | ) | const [inline] |
| double pcl::Feature< PointInT, PointOutT >::getRadiusSearch | ( | ) | const [inline, inherited] |
| KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod | ( | ) | const [inline, inherited] |
| double pcl::Feature< PointInT, PointOutT >::getSearchParameter | ( | ) | const [inline, inherited] |
| PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface | ( | ) | const [inline, inherited] |
| const PointInT & pcl::PCLBase< PointInT >::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
| pos | position in indices_ vector |
Definition at line 197 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 113 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const IndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 124 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 135 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | size_t | row_start, |
| size_t | col_start, | ||
| size_t | nb_rows, | ||
| size_t | nb_cols | ||
| ) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
| row_start | the offset on rows |
| col_start | the offset on columns |
| nb_rows | the number of rows to be considered row_start included |
| nb_cols | the number of columns to be considered col_start included |
Definition at line 151 of file pcl_base.h.
| virtual void pcl::PCLBase< PointInT >::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
| cloud | the const boost shared pointer to a PointCloud message |
Definition at line 103 of file pcl_base.h.
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setInputGradient | ( | const PointCloudGradientConstPtr & | gradient | ) | [inline] |
| void pcl::Feature< PointInT, PointOutT >::setKSearch | ( | int | k | ) | [inline, inherited] |
Set the number of k nearest neighbors to use for the feature estimation.
| [in] | k | the number of k-nearest neighbors |
Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrDistanceBins | ( | int | nr_distance_bins | ) | [inline] |
| void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrGradientBins | ( | int | nr_gradient_bins | ) | [inline] |
| void pcl::Feature< PointInT, PointOutT >::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, inherited] |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.
| [in] | cloud | a pointer to a PointCloud message |
1.7.6.1
