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pcl::RIFTEstimation< PointInT, GradientT, PointOutT > Class Template Reference

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 >:

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
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
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
 
- Public Types inherited from pcl::PCLBase< PointInT >
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...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 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...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 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...
 
- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
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...
 
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
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...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
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...
 

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 60 of file rift.h.

Member Typedef Documentation

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 80 of file rift.h.

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

Definition at line 75 of file rift.h.

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

Definition at line 77 of file rift.h.

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

Definition at line 76 of file rift.h.

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

Definition at line 72 of file rift.h.

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

Definition at line 73 of file rift.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 79 of file rift.h.

Constructor & Destructor Documentation

template<typename PointInT , typename GradientT , typename PointOutT >
pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::RIFTEstimation ( )
inline

Empty constructor.

Definition at line 84 of file rift.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

template<typename PointInT , typename GradientT , typename PointOutT >
void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeFeature ( PointCloudOut output)
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 ()

Parameters
[out]outputthe 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< T >::height, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

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]cloudthe dataset containing the Cartesian coordinates of the points
[in]gradientthe dataset containing the intensity gradient at each point in cloud
[in]p_idxthe index of the query point in cloud (i.e. the center of the neighborhood)
[in]radiusthe radius of the RIFT feature
[in]indicesthe indices of the points that comprise p_idx's neighborhood in cloud
[in]squared_distancesthe squared distances from the query point to each point in the neighborhood
[out]rift_descriptorthe resultant RIFT descriptor

Definition at line 48 of file rift.hpp.

References pcl::PointCloud< T >::points.

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 97 of file rift.h.

References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_.

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 107 of file rift.h.

References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_.

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 117 of file rift.h.

References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_.

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]gradienta pointer to the input gradient data

Definition at line 93 of file rift.h.

References pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_.

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_binsthe 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_.

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_binsthe 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_.

Member Data Documentation

template<typename PointInT , typename GradientT , typename PointOutT >
PointCloudGradientConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_
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().

template<typename PointInT , typename GradientT , typename PointOutT >
int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_
protected
template<typename PointInT , typename GradientT , typename PointOutT >
int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_
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().


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