Public Types | Public Member Functions

pcl::RIFTEstimation< PointInT, GradientT, PointOutT > Class Template Reference
[Module features]

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

#include <pcl/features/rift.h>

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List of all members.

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 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 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 ()
 Returns a shared pointer to the input gradient data.
void setNrDistanceBins (size_t nr_distance_bins)
 Set the number of bins to use in the distance dimension of the RIFT descriptor.
int getNrDistanceBins ()
 Returns the number of bins in the distance dimension of the RIFT descriptor.
void setNrGradientBins (size_t nr_gradient_bins)
 Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.
int getNrGradientBins ()
 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 ()
 Get a pointer to the surface point cloud dataset.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used.
double getSearchParameter ()
 Get the internal search parameter.
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation.
int getKSearch ()
 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 ()
 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 ().
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.
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.
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 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.

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 57 of file rift.h.


Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited]

Reimplemented in pcl::NarfDescriptor, and pcl::RangeImageBorderExtractor.

Definition at line 103 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::ConstPtr [inherited]
template<typename PointInT, typename PointOutT>
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited]

Definition at line 108 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr [inherited]

Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >.

Definition at line 109 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Reimplemented in pcl::ConcaveHull< PointInT >, and pcl::ConvexHull< PointInT >.

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::ConcaveHull< PointInT >, and pcl::ConvexHull< PointInT >.

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 72 of file rift.h.

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

Definition at line 74 of file rift.h.

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

Definition at line 73 of file rift.h.

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

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 69 of file rift.h.

template<typename PointInT, typename PointOutT>
typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr [inherited]

Reimplemented in pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >.

Definition at line 113 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr [inherited]

Reimplemented in pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >.

Definition at line 112 of file feature.h.

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

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 70 of file rift.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]
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 PointOutT>
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr [inherited]
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 117 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 118 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 77 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:
output the resultant point cloud model dataset containing the estimated features

Reimplemented in pcl::NarfDescriptor, and pcl::RangeImageBorderExtractor.

Definition at line 249 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:
cloud the dataset containing the Cartesian coordinates of the points
gradient the dataset containing the intensity gradient at each point in cloud
p_idx the index of the query point in cloud (i.e. the center of the neighborhood)
radius the radius of the RIFT feature
indices the indices of the points that comprise p_idx's neighborhood in cloud
squared_distances the squared distances from the query point to each point in the neighborhood
rift_descriptor the resultant RIFT descriptor

Eigen::Map<Eigen::Vector3f> point (& (cloud.points[indices[idx]].x));

Definition at line 45 of file rift.hpp.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices (  )  [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 171 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 99 of file pcl_base.h.

template<typename PointInT , typename GradientT , typename PointOutT >
PointCloudGradientConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getInputGradient (  )  [inline]

Returns a shared pointer to the input gradient data.

Definition at line 90 of file rift.h.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::getKSearch (  )  [inline, inherited]

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

Definition at line 166 of file feature.h.

template<typename PointInT , typename GradientT , typename PointOutT >
int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrDistanceBins (  )  [inline]

Returns the number of bins in the distance dimension of the RIFT descriptor.

Definition at line 101 of file rift.h.

template<typename PointInT , typename GradientT , typename PointOutT >
int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::getNrGradientBins (  )  [inline]

Returns the number of bins in the gradient orientation dimension of the RIFT descriptor.

Definition at line 112 of file rift.h.

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::getRadiusSearch (  )  [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 177 of file feature.h.

template<typename PointInT, typename PointOutT>
KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod (  )  [inline, inherited]

Get a pointer to the search method used.

Definition at line 152 of file feature.h.

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::getSearchParameter (  )  [inline, inherited]

Get the internal search parameter.

Definition at line 156 of file feature.h.

template<typename PointInT, typename PointOutT>
PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface (  )  [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 142 of file feature.h.

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

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 178 of file pcl_base.h.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::searchForNeighbors ( size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
index the index of the query point
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 196 of file feature.h.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::searchForNeighbors ( const PointCloudIn cloud,
size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
cloud the query point cloud
index the index of the query point in cloud
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 215 of file feature.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr indices  )  [inline, inherited]

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 105 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.

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 132 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.

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

Definition at line 116 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr cloud  )  [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:
cloud the const boost shared pointer to a PointCloud message

Definition at line 95 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:
gradient a pointer to the input gradient data

Definition at line 86 of file rift.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setKSearch ( int  k  )  [inline, inherited]

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

Parameters:
k the number of k-nearest neighbors

Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.

Definition at line 162 of file feature.h.

template<typename PointInT , typename GradientT , typename PointOutT >
void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrDistanceBins ( size_t  nr_distance_bins  )  [inline]

Set the number of bins to use in the distance dimension of the RIFT descriptor.

Parameters:
nr_distance_bins the number of bins to use in the distance dimension of the RIFT descriptor

Definition at line 97 of file rift.h.

template<typename PointInT , typename GradientT , typename PointOutT >
void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::setNrGradientBins ( size_t  nr_gradient_bins  )  [inline]

Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.

Parameters:
nr_gradient_bins the number of bins to use in the gradient orientation dimension of the RIFT descriptor

Definition at line 108 of file rift.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setRadiusSearch ( double  radius  )  [inline, inherited]

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

Parameters:
radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 173 of file feature.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr tree  )  [inline, inherited]

Provide a pointer to the search object.

Parameters:
tree a pointer to the spatial search object.

Definition at line 148 of file feature.h.

template<typename PointInT, typename PointOutT>
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.

Parameters:
cloud a pointer to a PointCloud message

Definition at line 133 of file feature.h.


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