RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud dataset containing points and intensity. More...

#include <pcl/features/rift.h>

Inheritance diagram for pcl::RIFTEstimation< PointInT, GradientT, PointOutT >:

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Collaboration diagram for pcl::RIFTEstimation< PointInT, GradientT, PointOutT >:

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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. 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...

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...

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 () More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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...

const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

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.

Author: Michael Dixon

Definition at line 59 of file rift.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass

inherited

Definition at line 110 of file feature.h.

template<typename PointInT, typename GradientT, typename PointOutT>

typedef boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::ConstPtr

Definition at line 79 of file rift.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree

inherited

Definition at line 115 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr

inherited

Definition at line 116 of file feature.h.

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

Definition at line 76 of file pcl_base.h.

template<typename PointInT, typename GradientT, typename PointOutT>

typedef pcl::PointCloud<GradientT> pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradient

Definition at line 74 of file rift.h.

template<typename PointInT, typename GradientT, typename PointOutT>

typedef PointCloudGradient::ConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradientConstPtr

Definition at line 76 of file rift.h.

template<typename PointInT, typename GradientT, typename PointOutT>

typedef PointCloudGradient::Ptr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradientPtr

Definition at line 75 of file rift.h.

template<typename PointInT, typename GradientT, typename PointOutT>

typedef pcl::PointCloud<PointInT> pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudIn

Definition at line 71 of file rift.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr

inherited

Definition at line 120 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr

inherited

Definition at line 119 of file feature.h.

template<typename PointInT, typename GradientT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudOut

Definition at line 72 of file rift.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr

inherited

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.

template<typename PointInT, typename GradientT, typename PointOutT>

typedef boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::Ptr

Definition at line 78 of file rift.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod

inherited

Definition at line 124 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface

inherited

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

template<typename PointInT, typename GradientT, typename PointOutT>

pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::RIFTEstimation ( )

inline

Empty constructor.

Definition at line 83 of file rift.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

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 ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

Definition at line 188 of file feature.hpp.

template<typename PointInT , typename PointOutT >

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 ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

Definition at line 224 of file feature.hpp.

template<typename PointInT , typename GradientT , typename PointOutT >

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.

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 47 of file rift.hpp.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT, typename GradientT, typename PointOutT>

PointCloudGradientConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getInputGradient ( ) const

inline

Returns a shared pointer to the input gradient data.

Definition at line 96 of file rift.h.

template<typename PointInT, typename PointOutT>

int pcl::Feature< PointInT, PointOutT >::getKSearch ( ) const

inlineinherited

get the number of k nearest neighbors used for the feature estimation.

Definition at line 186 of file feature.h.

template<typename PointInT, typename GradientT, typename PointOutT>

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 106 of file rift.h.

template<typename PointInT, typename GradientT, typename PointOutT>

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 116 of file rift.h.

template<typename PointInT, typename PointOutT>

double pcl::Feature< PointInT, PointOutT >::getRadiusSearch ( ) const

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod ( ) const

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

template<typename PointInT, typename PointOutT>

double pcl::Feature< PointInT, PointOutT >::getSearchParameter ( ) const

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface ( ) const

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos)

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

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)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

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)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

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
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

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)

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT, typename GradientT, typename PointOutT>

void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setInputGradient ( const PointCloudGradientConstPtr & gradient)

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.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setKSearch ( int k)

inlineinherited

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

[in] k the number of k-nearest neighbors

Definition at line 182 of file feature.h.

template<typename PointInT, typename GradientT, typename PointOutT>

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.

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.

template<typename PointInT, typename GradientT, typename PointOutT>

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.

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.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setRadiusSearch ( double radius)

inlineinherited

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 196 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree)

inlineinherited

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 162 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr & cloud)

inlineinherited

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.

Parameters

[in] cloud a pointer to a PointCloud message

Definition at line 144 of file feature.h.

The documentation for this class was generated from the following files:

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/rift.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/rift.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename GradientT, typename PointOutT> class pcl::RIFTEstimation< PointInT, GradientT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename GradientT, typename PointOutT>
class pcl::RIFTEstimation< PointInT, GradientT, PointOutT >