Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/features/include/pcl/features/rift.h
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00040 
00041 #ifndef PCL_RIFT_H_
00042 #define PCL_RIFT_H_
00043 
00044 #include <pcl/features/feature.h>
00045 
00046 namespace pcl
00047 {
00048   /** \brief RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud 
00049     * dataset containing points and intensity.  For more information about the RIFT descriptor, see:
00050     *
00051     *  Svetlana Lazebnik, Cordelia Schmid, and Jean Ponce. 
00052     *  A sparse texture representation using local affine regions. 
00053     *  In IEEE Transactions on Pattern Analysis and Machine Intelligence, volume 27, pages 1265-1278, August 2005.
00054     *
00055     * \author Michael Dixon
00056     * \ingroup features
00057     */
00058 
00059   template <typename PointInT, typename GradientT, typename PointOutT>
00060   class RIFTEstimation: public Feature<PointInT, PointOutT>
00061   {
00062     public:
00063       using Feature<PointInT, PointOutT>::feature_name_;
00064       using Feature<PointInT, PointOutT>::getClassName;
00065 
00066       using Feature<PointInT, PointOutT>::surface_;
00067       using Feature<PointInT, PointOutT>::indices_;
00068 
00069       using Feature<PointInT, PointOutT>::tree_;
00070       using Feature<PointInT, PointOutT>::search_radius_;
00071       
00072       typedef typename pcl::PointCloud<PointInT> PointCloudIn;
00073       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00074 
00075       typedef typename pcl::PointCloud<GradientT> PointCloudGradient;
00076       typedef typename PointCloudGradient::Ptr PointCloudGradientPtr;
00077       typedef typename PointCloudGradient::ConstPtr PointCloudGradientConstPtr;
00078 
00079       typedef typename boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > Ptr;
00080       typedef typename boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > ConstPtr;
00081 
00082 
00083       /** \brief Empty constructor. */
00084       RIFTEstimation () : gradient_ (), nr_distance_bins_ (4), nr_gradient_bins_ (8)
00085       {
00086         feature_name_ = "RIFTEstimation";
00087       };
00088 
00089       /** \brief Provide a pointer to the input gradient data
00090         * \param[in] gradient a pointer to the input gradient data
00091         */
00092       inline void 
00093       setInputGradient (const PointCloudGradientConstPtr &gradient) { gradient_ = gradient; };
00094 
00095       /** \brief Returns a shared pointer to the input gradient data */
00096       inline PointCloudGradientConstPtr 
00097       getInputGradient () const { return (gradient_); };
00098 
00099       /** \brief Set the number of bins to use in the distance dimension of the RIFT descriptor
00100         * \param[in] nr_distance_bins the number of bins to use in the distance dimension of the RIFT descriptor
00101         */
00102       inline void 
00103       setNrDistanceBins (int nr_distance_bins) { nr_distance_bins_ = nr_distance_bins; };
00104 
00105       /** \brief Returns the number of bins in the distance dimension of the RIFT descriptor. */
00106       inline int 
00107       getNrDistanceBins () const { return (nr_distance_bins_); };
00108 
00109       /** \brief Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor
00110         * \param[in] nr_gradient_bins the number of bins to use in the gradient orientation dimension of the RIFT descriptor
00111         */
00112       inline void 
00113       setNrGradientBins (int nr_gradient_bins) { nr_gradient_bins_ = nr_gradient_bins; };
00114 
00115       /** \brief Returns the number of bins in the gradient orientation dimension of the RIFT descriptor. */
00116       inline int 
00117       getNrGradientBins () const { return (nr_gradient_bins_); };
00118 
00119       /** \brief Estimate the Rotation Invariant Feature Transform (RIFT) descriptor for a given point based on its 
00120         * spatial neighborhood of 3D points and the corresponding intensity gradient vector field
00121         * \param[in] cloud the dataset containing the Cartesian coordinates of the points
00122         * \param[in] gradient the dataset containing the intensity gradient at each point in \a cloud
00123         * \param[in] p_idx the index of the query point in \a cloud (i.e. the center of the neighborhood)
00124         * \param[in] radius the radius of the RIFT feature
00125         * \param[in] indices the indices of the points that comprise \a p_idx's neighborhood in \a cloud
00126         * \param[in] squared_distances the squared distances from the query point to each point in the neighborhood
00127         * \param[out] rift_descriptor the resultant RIFT descriptor
00128         */
00129       void 
00130       computeRIFT (const PointCloudIn &cloud, const PointCloudGradient &gradient, int p_idx, float radius,
00131                    const std::vector<int> &indices, const std::vector<float> &squared_distances, 
00132                    Eigen::MatrixXf &rift_descriptor);
00133 
00134     protected:
00135 
00136       /** \brief Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by
00137         * <setInputCloud (), setIndices ()> using the surface in setSearchSurface (), the gradient in 
00138         * setInputGradient (), and the spatial locator in setSearchMethod ()
00139         * \param[out] output the resultant point cloud model dataset that contains the RIFT feature estimates
00140         */
00141       void 
00142       computeFeature (PointCloudOut &output);
00143 
00144       /** \brief The intensity gradient of the input point cloud data*/
00145       PointCloudGradientConstPtr gradient_;
00146 
00147       /** \brief The number of distance bins in the descriptor. */
00148       int nr_distance_bins_;
00149 
00150       /** \brief The number of gradient orientation bins in the descriptor. */
00151       int nr_gradient_bins_;
00152   };
00153 }
00154 
00155 #ifdef PCL_NO_PRECOMPILE
00156 #include <pcl/features/impl/rift.hpp>
00157 #endif
00158 
00159 #endif // #ifndef PCL_RIFT_H_