|
| typedef pcl::PointCloud< PointInT > | PointCloudIn |
| |
typedef Feature< PointInT,
pcl::Histogram
< 32 > >::PointCloudOut | PointCloudOut |
| |
typedef pcl::PointCloud
< GradientT > | PointCloudGradient |
| |
| typedef PointCloudGradient::Ptr | PointCloudGradientPtr |
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typedef
PointCloudGradient::ConstPtr | PointCloudGradientConstPtr |
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typedef boost::shared_ptr
< RIFTEstimation< PointInT,
GradientT, pcl::Histogram< 32 > > > | Ptr |
| |
typedef boost::shared_ptr
< const RIFTEstimation
< PointInT, GradientT,
pcl::Histogram< 32 > > > | ConstPtr |
| |
| typedef PCLBase< PointInT > | BaseClass |
| |
typedef pcl::search::Search
< PointInT > | KdTree |
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typedef pcl::search::Search
< PointInT >::Ptr | KdTreePtr |
| |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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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 |
| |
|
| 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...
|
| |
template<typename PointInT, typename GradientT>
class pcl::RIFTEstimation< PointInT, GradientT, Eigen::MatrixXf >
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 172 of file rift.h.
1.8.4