Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
rift.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 * $Id$
38 *
39 */
40
41#pragma once
42
43#include <pcl/features/feature.h>
44
45namespace pcl
46{
47 /** \brief RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud
48 * dataset containing points and intensity. For more information about the RIFT descriptor, see:
49 *
50 * Svetlana Lazebnik, Cordelia Schmid, and Jean Ponce.
51 * A sparse texture representation using local affine regions.
52 * In IEEE Transactions on Pattern Analysis and Machine Intelligence, volume 27, pages 1265-1278, August 2005.
53 *
54 * \author Michael Dixon
55 * \ingroup features
56 */
57
58 template <typename PointInT, typename GradientT, typename PointOutT>
59 class RIFTEstimation: public Feature<PointInT, PointOutT>
60 {
61 public:
62 using Feature<PointInT, PointOutT>::feature_name_;
63 using Feature<PointInT, PointOutT>::getClassName;
64
65 using Feature<PointInT, PointOutT>::surface_;
66 using Feature<PointInT, PointOutT>::indices_;
67
68 using Feature<PointInT, PointOutT>::tree_;
69 using Feature<PointInT, PointOutT>::search_radius_;
70
73
77
78 using Ptr = shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> >;
79 using ConstPtr = shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> >;
80
81
82 /** \brief Empty constructor. */
84 {
85 feature_name_ = "RIFTEstimation";
86 };
87
88 /** \brief Provide a pointer to the input gradient data
89 * \param[in] gradient a pointer to the input gradient data
90 */
91 inline void
92 setInputGradient (const PointCloudGradientConstPtr &gradient) { gradient_ = gradient; };
93
94 /** \brief Returns a shared pointer to the input gradient data */
96 getInputGradient () const { return (gradient_); };
97
98 /** \brief Set the number of bins to use in the distance dimension of the RIFT descriptor
99 * \param[in] nr_distance_bins the number of bins to use in the distance dimension of the RIFT descriptor
100 */
101 inline void
102 setNrDistanceBins (int nr_distance_bins) { nr_distance_bins_ = nr_distance_bins; };
103
104 /** \brief Returns the number of bins in the distance dimension of the RIFT descriptor. */
105 inline int
106 getNrDistanceBins () const { return (nr_distance_bins_); };
107
108 /** \brief Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor
109 * \param[in] nr_gradient_bins the number of bins to use in the gradient orientation dimension of the RIFT descriptor
110 */
111 inline void
112 setNrGradientBins (int nr_gradient_bins) { nr_gradient_bins_ = nr_gradient_bins; };
113
114 /** \brief Returns the number of bins in the gradient orientation dimension of the RIFT descriptor. */
115 inline int
116 getNrGradientBins () const { return (nr_gradient_bins_); };
117
118 /** \brief Estimate the Rotation Invariant Feature Transform (RIFT) descriptor for a given point based on its
119 * spatial neighborhood of 3D points and the corresponding intensity gradient vector field
120 * \param[in] cloud the dataset containing the Cartesian coordinates of the points
121 * \param[in] gradient the dataset containing the intensity gradient at each point in \a cloud
122 * \param[in] p_idx the index of the query point in \a cloud (i.e. the center of the neighborhood)
123 * \param[in] radius the radius of the RIFT feature
124 * \param[in] indices the indices of the points that comprise \a p_idx's neighborhood in \a cloud
125 * \param[in] squared_distances the squared distances from the query point to each point in the neighborhood
126 * \param[out] rift_descriptor the resultant RIFT descriptor
127 */
128 void
129 computeRIFT (const PointCloudIn &cloud, const PointCloudGradient &gradient, int p_idx, float radius,
130 const pcl::Indices &indices, const std::vector<float> &squared_distances,
131 Eigen::MatrixXf &rift_descriptor);
132
133 protected:
134
135 /** \brief Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by
136 * <setInputCloud (), setIndices ()> using the surface in setSearchSurface (), the gradient in
137 * setInputGradient (), and the spatial locator in setSearchMethod ()
138 * \param[out] output the resultant point cloud model dataset that contains the RIFT feature estimates
139 */
140 void
141 computeFeature (PointCloudOut &output) override;
142
143 /** \brief The intensity gradient of the input point cloud data*/
145
146 /** \brief The number of distance bins in the descriptor. */
148
149 /** \brief The number of gradient orientation bins in the descriptor. */
151 };
152}
153
154#ifdef PCL_NO_PRECOMPILE
155#include <pcl/features/impl/rift.hpp>
156#endif
Feature represents the base feature class.
Definition feature.h:107
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:247
double search_radius_
The nearest neighbors search radius for each point.
Definition feature.h:240
std::string feature_name_
The feature name.
Definition feature.h:223
KdTreePtr tree_
A pointer to the spatial search object.
Definition feature.h:234
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:231
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud...
Definition rift.h:60
pcl::PointCloud< PointInT > PointCloudIn
Definition rift.h:71
void setNrGradientBins(int nr_gradient_bins)
Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.
Definition rift.h:112
void computeFeature(PointCloudOut &output) override
Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by <set...
Definition rift.hpp:113
RIFTEstimation()
Empty constructor.
Definition rift.h:83
shared_ptr< const RIFTEstimation< PointInT, GradientT, PointOutT > > ConstPtr
Definition rift.h:79
pcl::PointCloud< GradientT > PointCloudGradient
Definition rift.h:74
int nr_distance_bins_
The number of distance bins in the descriptor.
Definition rift.h:147
PointCloudGradientConstPtr gradient_
The intensity gradient of the input point cloud data.
Definition rift.h:144
void setNrDistanceBins(int nr_distance_bins)
Set the number of bins to use in the distance dimension of the RIFT descriptor.
Definition rift.h:102
int getNrDistanceBins() const
Returns the number of bins in the distance dimension of the RIFT descriptor.
Definition rift.h:106
void setInputGradient(const PointCloudGradientConstPtr &gradient)
Provide a pointer to the input gradient data.
Definition rift.h:92
typename PointCloudGradient::ConstPtr PointCloudGradientConstPtr
Definition rift.h:76
int nr_gradient_bins_
The number of gradient orientation bins in the descriptor.
Definition rift.h:150
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 sp...
Definition rift.hpp:48
typename PointCloudGradient::Ptr PointCloudGradientPtr
Definition rift.h:75
PointCloudGradientConstPtr getInputGradient() const
Returns a shared pointer to the input gradient data.
Definition rift.h:96
shared_ptr< RIFTEstimation< PointInT, GradientT, PointOutT > > Ptr
Definition rift.h:78
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition rift.h:72
int getNrGradientBins() const
Returns the number of bins in the gradient orientation dimension of the RIFT descriptor.
Definition rift.h:116
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133