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 >:

[legend]

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.
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

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 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 79 of file rift.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

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

Definition at line 71 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 72 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 78 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 83 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] output the resultant point cloud model dataset that contains the RIFT feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 112 of file rift.hpp.

template<typename PointInT, typename GradientT, typename PointOutT>

void pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, private, virtual]

Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Parameters:

[out] output the output point cloud

Implements pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::RIFTEstimation< PointInT, GradientT, Eigen::MatrixXf >.

Definition at line 157 of file rift.h.

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.

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 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 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 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.

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 144 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 147 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 150 of file rift.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private 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

Member Data Documentation

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