130 const std::vector<int> &indices,
const std::vector<float> &squared_distances,
void computeFeature(PointCloudOut &output) override
Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by
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.
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
typename PointCloudGradient::ConstPtr PointCloudGradientConstPtr
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.
typename PointCloudGradient::Ptr PointCloudGradientPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloudGradientConstPtr gradient_
The intensity gradient of the input point cloud data.
Feature represents the base feature class.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void setNrGradientBins(int nr_gradient_bins)
Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor.
shared_ptr< Feature< PointInT, PointOutT > > Ptr
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.