Point Cloud Library (PCL)
1.11.1-dev
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43 #include <pcl/features/feature.h>
58 template <
typename Po
intInT,
typename GradientT,
typename Po
intOutT>
78 using Ptr = shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> >;
79 using ConstPtr = shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> >;
130 const pcl::Indices &indices,
const std::vector<float> &squared_distances,
131 Eigen::MatrixXf &rift_descriptor);
154 #ifdef PCL_NO_PRECOMPILE
155 #include <pcl/features/impl/rift.hpp>
shared_ptr< Feature< PointInT, PointOutT > > Ptr
void setNrDistanceBins(int nr_distance_bins)
Set the number of bins to use in the distance dimension of the RIFT descriptor.
int nr_distance_bins_
The number of distance bins in the descriptor.
RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud...
int getNrDistanceBins() const
Returns the number of bins in the distance dimension of the RIFT descriptor.
typename PointCloudGradient::Ptr PointCloudGradientPtr
RIFTEstimation()
Empty constructor.
typename PointCloudGradient::ConstPtr PointCloudGradientConstPtr
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
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...
PointCloudGradientConstPtr gradient_
The intensity gradient of the input point cloud data.
pcl::PointCloud< GradientT > PointCloudGradient
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
pcl::PointCloud< PointInT > PointCloudIn
int nr_gradient_bins_
The number of gradient orientation bins in the descriptor.
void setNrGradientBins(int nr_gradient_bins)
Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.
IndicesAllocator<> Indices
Type used for indices in PCL.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
void setInputGradient(const PointCloudGradientConstPtr &gradient)
Provide a pointer to the input gradient data.
int getNrGradientBins() const
Returns the number of bins in the gradient orientation dimension of the RIFT descriptor.
std::string feature_name_
The feature name.
void computeFeature(PointCloudOut &output) override
Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by <set...
PointCloudGradientConstPtr getInputGradient() const
Returns a shared pointer to the input gradient data.
Feature represents the base feature class.