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;
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_
void computeFeature(PointCloudOut &output)
Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by <set...
void setInputGradient(const PointCloudGradientConstPtr &gradient)
Provide a pointer to the input gradient data.
std::string feature_name_
The feature name.
Feature represents the base feature class.
int getNrDistanceBins() const
Returns the number of bins in the distance dimension of the RIFT descriptor.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
int nr_distance_bins_
The number of distance bins in the descriptor.
pcl::PointCloud< PointInT > PointCloudIn
RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud...
PointCloudGradientConstPtr getInputGradient() const
Returns a shared pointer to the input gradient data.
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.
boost::shared_ptr< RIFTEstimation< PointInT, GradientT, PointOutT > > Ptr
RIFTEstimation()
Empty constructor.
int nr_gradient_bins_
The number of gradient orientation bins in the descriptor.
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...
boost::shared_ptr< PointCloud< PointT > > Ptr
PointCloudGradient::Ptr PointCloudGradientPtr
PointCloudGradientConstPtr gradient_
The intensity gradient of the input point cloud data.
void setNrDistanceBins(int nr_distance_bins)
Set the number of bins to use in the distance dimension of the RIFT descriptor.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloudGradient::ConstPtr PointCloudGradientConstPtr
boost::shared_ptr< const RIFTEstimation< PointInT, GradientT, PointOutT > > ConstPtr