Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
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. For more information about the RIFT descriptor, see: More...

#include <rift.h>

Inheritance diagram for pcl::RIFTEstimation< PointInT, GradientT, PointOutT >:
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List of all members.

Public Types

typedef boost::shared_ptr
< const RIFTEstimation
< PointInT, GradientT,
PointOutT > > 
ConstPtr
typedef pcl::PointCloud
< GradientT > 
PointCloudGradient
typedef
PointCloudGradient::ConstPtr 
PointCloudGradientConstPtr
typedef PointCloudGradient::Ptr PointCloudGradientPtr
typedef pcl::PointCloud< PointInT > PointCloudIn
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef boost::shared_ptr
< RIFTEstimation< PointInT,
GradientT, PointOutT > > 
Ptr

Public Member Functions

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.
PointCloudGradientConstPtr getInputGradient () const
 Returns a shared pointer to the input gradient data.
int getNrDistanceBins () const
 Returns the number of bins in the distance dimension of the RIFT descriptor.
int getNrGradientBins () const
 Returns the number of bins in the gradient orientation dimension of the RIFT descriptor.
 RIFTEstimation ()
 Empty constructor.
void setInputGradient (const PointCloudGradientConstPtr &gradient)
 Provide a 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.
void setNrGradientBins (int nr_gradient_bins)
 Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.

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 ()

Protected Attributes

PointCloudGradientConstPtr gradient_
 The intensity gradient of the input point cloud data.
int nr_distance_bins_
 The number of distance bins in the descriptor.
int nr_gradient_bins_
 The number of gradient orientation bins in the descriptor.

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

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

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

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

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

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

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

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

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.


Member Function Documentation

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

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.

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.

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.

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.

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.

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.

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.

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.


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.

template<typename PointInT, typename GradientT, typename PointOutT>
int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_ [protected]

The number of distance bins in the descriptor.

Definition at line 148 of file rift.h.

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.


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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:43:11