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
using	PointCloudIn = pcl::PointCloud<PointInT>
using	PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut
using	PointCloudGradient = pcl::PointCloud<GradientT>
using	PointCloudGradientPtr = typename PointCloudGradient::Ptr
using	PointCloudGradientConstPtr = typename PointCloudGradient::ConstPtr
using	Ptr = shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> >
using	ConstPtr = shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> >
Public Types inherited from pcl::Feature< PointInT, PointOutT >
using	BaseClass = PCLBase<PointInT>
using	Ptr = shared_ptr< Feature<PointInT, PointOutT> >
using	ConstPtr = shared_ptr< const Feature<PointInT, PointOutT> >
using	KdTree = pcl::search::Search<PointInT>
using	KdTreePtr = typename KdTree::Ptr
using	PointCloudIn = pcl::PointCloud<PointInT>
using	PointCloudInPtr = typename PointCloudIn::Ptr
using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using	PointCloudOut = pcl::PointCloud<PointOutT>
using	SearchMethod = std::function<int (std::size_t, double, pcl::Indices &, std::vector<float> &)>
using	SearchMethodSurface = std::function<int (const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector<float> &)>
Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
using	PointIndicesPtr
using	PointIndicesConstPtr

Public Member Functions
	RIFTEstimation ()
	Empty constructor.
void	setInputGradient (const PointCloudGradientConstPtr &gradient)
	Provide a pointer to the input gradient data.
PointCloudGradientConstPtr	getInputGradient () const
	Returns a shared 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.
int	getNrDistanceBins () const
	Returns the number of bins 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.
int	getNrGradientBins () const
	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 pcl::Indices &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.
Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
	Feature ()
	Empty constructor.
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 () const
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used.
double	getSearchParameter () const
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch () const
	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 () const
	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 ().
Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
void	computeFeature (PointCloudOut &output) override
	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 Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
virtual bool	initCompute ()
	This method should get called before starting the actual computation.
virtual bool	deinitCompute ()
	This method should get called after ending the actual computation.
int	searchForNeighbors (std::size_t index, double parameter, pcl::Indices &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, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
PointCloudGradientConstPtr	gradient_ {nullptr}
	The intensity gradient of the input point cloud data.
int	nr_distance_bins_ {4}
	The number of distance bins in the descriptor.
int	nr_gradient_bins_ {8}
	The number of gradient orientation bins in the descriptor.
Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string	feature_name_
	The feature name.
SearchMethodSurface	search_method_surface_
	The search method template for points.
PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation.
KdTreePtr	tree_
	A pointer to the spatial search object.
double	search_parameter_
	The actual search parameter (from either search_radius_ or k_).
double	search_radius_
	The nearest neighbors search radius for each point.
int	k_
	The number of K nearest neighbors to use for each point.
bool	fake_surface_
	If no surface is given, we use the input PointCloud as the surface.
Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

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

◆ ConstPtr

template<typename PointInT, typename GradientT, typename PointOutT>

using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::ConstPtr = shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> >

Definition at line 79 of file rift.h.

◆ PointCloudGradient

template<typename PointInT, typename GradientT, typename PointOutT>

using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradient = pcl::PointCloud<GradientT>

Definition at line 74 of file rift.h.

◆ PointCloudGradientConstPtr

template<typename PointInT, typename GradientT, typename PointOutT>

using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradientConstPtr = typename PointCloudGradient::ConstPtr

Definition at line 76 of file rift.h.

◆ PointCloudGradientPtr

template<typename PointInT, typename GradientT, typename PointOutT>

using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudGradientPtr = typename PointCloudGradient::Ptr

Definition at line 75 of file rift.h.

◆ PointCloudIn

template<typename PointInT, typename GradientT, typename PointOutT>

using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 71 of file rift.h.

◆ PointCloudOut

template<typename PointInT, typename GradientT, typename PointOutT>

using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 72 of file rift.h.

◆ Ptr

template<typename PointInT, typename GradientT, typename PointOutT>

using pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::Ptr = shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> >

Definition at line 78 of file rift.h.

Constructor & Destructor Documentation

◆ RIFTEstimation()

template<typename PointInT, typename GradientT, typename PointOutT>

pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::RIFTEstimation ( )

inline

Empty constructor.

Definition at line 83 of file rift.h.

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

Member Function Documentation

◆ computeFeature()

template<typename PointInT, typename GradientT, typename PointOutT>

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

overrideprotectedvirtual

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 113 of file rift.hpp.

References computeRIFT(), pcl::Feature< PointInT, PointOutT >::getClassName(), gradient_, pcl::PCLBase< PointInT >::indices_, nr_distance_bins_, nr_gradient_bins_, pcl::Feature< PointInT, PointOutT >::search_radius_, pcl::Feature< PointInT, PointOutT >::surface_, and pcl::Feature< PointInT, PointOutT >::tree_.

◆ computeRIFT()

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 pcl::Indices &	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 48 of file rift.hpp.

References M_PI.

Referenced by computeFeature().

◆ getInputGradient()

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.

References gradient_.

◆ getNrDistanceBins()

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.

References nr_distance_bins_.

◆ getNrGradientBins()

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.

References nr_gradient_bins_.

◆ setInputGradient()

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.

References gradient_.

◆ setNrDistanceBins()

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.

References nr_distance_bins_.

◆ setNrGradientBins()

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.

References nr_gradient_bins_.

Member Data Documentation

◆ gradient_

template<typename PointInT, typename GradientT, typename PointOutT>

PointCloudGradientConstPtr pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::gradient_ {nullptr}

protected

The intensity gradient of the input point cloud data.

Definition at line 144 of file rift.h.

Referenced by computeFeature(), getInputGradient(), and setInputGradient().

◆ nr_distance_bins_

template<typename PointInT, typename GradientT, typename PointOutT>

int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_distance_bins_ {4}

protected

The number of distance bins in the descriptor.

Definition at line 147 of file rift.h.

Referenced by computeFeature(), getNrDistanceBins(), and setNrDistanceBins().

◆ nr_gradient_bins_

template<typename PointInT, typename GradientT, typename PointOutT>

int pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::nr_gradient_bins_ {8}

protected

The number of gradient orientation bins in the descriptor.

Definition at line 150 of file rift.h.

Referenced by computeFeature(), getNrGradientBins(), and setNrGradientBins().

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

pcl/features/rift.h
pcl/features/impl/rift.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudGradient

◆ PointCloudGradientConstPtr

◆ PointCloudGradientPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ RIFTEstimation()

Member Function Documentation

◆ computeFeature()

◆ computeRIFT()

◆ getInputGradient()

◆ getNrDistanceBins()

◆ getNrGradientBins()

◆ setInputGradient()

◆ setNrDistanceBins()

◆ setNrGradientBins()

Member Data Documentation

◆ gradient_

◆ nr_distance_bins_

◆ nr_gradient_bins_