44 #include <pcl/features/feature.h> 59 template <
typename Po
intInT,
typename GradientT,
typename Po
intOutT>
79 typedef typename boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> >
Ptr;
80 typedef typename boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> >
ConstPtr;
96 inline PointCloudGradientConstPtr
130 computeRIFT (
const PointCloudIn &cloud,
const PointCloudGradient &gradient,
int p_idx,
float radius,
131 const std::vector<int> &indices,
const std::vector<float> &squared_distances,
132 Eigen::MatrixXf &rift_descriptor);
155 #ifdef PCL_NO_PRECOMPILE 156 #include <pcl/features/impl/rift.hpp> 159 #endif // #ifndef PCL_RIFT_H_ boost::shared_ptr< const RIFTEstimation< PointInT, GradientT, PointOutT > > ConstPtr
RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud...
std::string feature_name_
The feature name.
PointCloudGradient::Ptr PointCloudGradientPtr
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
int getNrDistanceBins() const
Returns the number of bins in the distance dimension of the RIFT descriptor.
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.
boost::shared_ptr< PointCloud< PointT > > Ptr
pcl::PointCloud< PointInT > PointCloudIn
pcl::PointCloud< GradientT > PointCloudGradient
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 sp...
RIFTEstimation()
Empty constructor.
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.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
boost::shared_ptr< RIFTEstimation< PointInT, GradientT, PointOutT > > Ptr
PointCloudGradientConstPtr gradient_
The intensity gradient of the input point cloud data.
Feature represents the base feature class.
PointCloudGradient::ConstPtr PointCloudGradientConstPtr
void setNrGradientBins(int nr_gradient_bins)
Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.
void computeFeature(PointCloudOut &output)
Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by <set...
int getNrGradientBins() const
Returns the number of bins in the gradient orientation dimension of the RIFT descriptor.
int nr_gradient_bins_
The number of gradient orientation bins in the descriptor.