NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data. More...

#include <pcl/features/narf.h>

Classes
struct	FeaturePointRepresentation

Public Member Functions
	Narf ()
	Constructor. More...

	Narf (const Narf &other)
	Copy Constructor. More...

	~Narf ()
	Destructor. More...

const Narf &	operator= (const Narf &other)
	Assignment operator. More...

bool	extractFromRangeImage (const RangeImage &range_image, const Eigen::Affine3f &pose, int descriptor_size, float support_size, int surface_patch_world_size=NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE)
	Method to extract a NARF feature from a certain 3D point using a range image. More...

bool	extractFromRangeImage (const RangeImage &range_image, float x, float y, int descriptor_size, float support_size)
	Same as above, but determines the transformation from the surface in the range image. More...

bool	extractFromRangeImage (const RangeImage &range_image, const InterestPoint &interest_point, int descriptor_size, float support_size)
	Same as above. More...

bool	extractFromRangeImage (const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size)
	Same as above. More...

bool	extractFromRangeImageWithBestRotation (const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size)
	Same as above, but using the rotational invariant version by choosing the best extracted rotation around the normal. More...

void	getRotations (std::vector< float > &rotations, std::vector< float > &strengths) const

void	getRotatedVersions (const RangeImage &range_image, const std::vector< float > &rotations, std::vector< Narf * > &features) const

float	getDescriptorDistance (const Narf &other) const
	Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum distance. More...

int	getNoOfBeamPoints () const
	How many points on each beam of the gradient star are used to calculate the descriptor? More...

void	copyToNarf36 (Narf36 &narf36) const
	Copy the descriptor and pose to the point struct Narf36. More...

void	saveBinary (const std::string &filename) const
	Write to file. More...

void	saveBinary (std::ostream &file) const
	Write to output stream. More...

void	loadBinary (const std::string &filename)
	Read from file. More...

void	loadBinary (std::istream &file)
	Read from input stream. More...

bool	extractDescriptor (int descriptor_size)
	Create the descriptor from the already set other members. More...

const float *	getDescriptor () const
	Getter (const) for the descriptor. More...

float *	getDescriptor ()
	Getter for the descriptor. More...

const int &	getDescriptorSize () const
	Getter (const) for the descriptor length. More...

int &	getDescriptorSize ()
	Getter for the descriptor length. More...

const Eigen::Vector3f &	getPosition () const
	Getter (const) for the position. More...

Eigen::Vector3f &	getPosition ()
	Getter for the position. More...

const Eigen::Affine3f &	getTransformation () const
	Getter (const) for the 6DoF pose. More...

Eigen::Affine3f &	getTransformation ()
	Getter for the 6DoF pose. More...

const int &	getSurfacePatchPixelSize () const
	Getter (const) for the pixel size of the surface patch (only one dimension) More...

int &	getSurfacePatchPixelSize ()
	Getter for the pixel size of the surface patch (only one dimension) More...

const float &	getSurfacePatchWorldSize () const
	Getter (const) for the world size of the surface patch. More...

float &	getSurfacePatchWorldSize ()
	Getter for the world size of the surface patch. More...

const float &	getSurfacePatchRotation () const
	Getter (const) for the rotation of the surface patch. More...

float &	getSurfacePatchRotation ()
	Getter for the rotation of the surface patch. More...

const float *	getSurfacePatch () const
	Getter (const) for the surface patch. More...

float *	getSurfacePatch ()
	Getter for the surface patch. More...

void	freeSurfacePatch ()
	Method to erase the surface patch and free the memory. More...

void	setDescriptor (float *descriptor)
	Setter for the descriptor. More...

void	setSurfacePatch (float *surface_patch)
	Setter for the surface patch. More...

Static Public Member Functions
static void	extractFromRangeImageAndAddToList (const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list)
	Add features extracted at the given interest point and add them to the list. More...

static void	extractFromRangeImageAndAddToList (const RangeImage &range_image, float image_x, float image_y, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list)
	Same as above. More...

static void	extractForInterestPoints (const RangeImage &range_image, const PointCloud< InterestPoint > &interest_points, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list)
	Get a list of features from the given interest points. More...

static void	extractForEveryRangeImagePointAndAddToList (const RangeImage &range_image, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list)
	Extract an NARF for every point in the range image. More...

Static Public Attributes
static int	max_no_of_threads
	The maximum number of openmp threads that can be used in this class. More...

Detailed Description

NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data.

   Please refer to pcl/features/narf_descriptor.h if you want the class derived from pcl Feature.

Author: Bastian Steder

Definition at line 58 of file narf.h.

Constructor & Destructor Documentation

pcl::Narf::Narf ( )

Constructor.

pcl::Narf::Narf ( const Narf & other )

Copy Constructor.

pcl::Narf::~Narf ( )

Destructor.

Member Function Documentation

void pcl::Narf::copyToNarf36 ( Narf36 & narf36 ) const

inline

Copy the descriptor and pose to the point struct Narf36.

Definition at line 51 of file narf.hpp.

bool pcl::Narf::extractDescriptor ( int descriptor_size )

Create the descriptor from the already set other members.

static void pcl::Narf::extractForEveryRangeImagePointAndAddToList	(	const RangeImage &	range_image,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list
	)

static

Extract an NARF for every point in the range image.

static void pcl::Narf::extractForInterestPoints	(	const RangeImage &	range_image,
		const PointCloud< InterestPoint > &	interest_points,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list
	)

static

Get a list of features from the given interest points.

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		const Eigen::Affine3f &	pose,
		int	descriptor_size,
		float	support_size,
		int	surface_patch_world_size = `NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE`
	)

Method to extract a NARF feature from a certain 3D point using a range image.

pose determines the coordinate system of the feature, whereas it transforms a point from the world into the feature system. This means the interest point at which the feature is extracted will be the inverse application of pose onto (0,0,0). descriptor_size_ determines the size of the descriptor, support_size determines the support size of the feature, meaning the size in the world it covers

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		float	x,
		float	y,
		int	descriptor_size,
		float	support_size
	)

Same as above, but determines the transformation from the surface in the range image.

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		const InterestPoint &	interest_point,
		int	descriptor_size,
		float	support_size
	)

Same as above.

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		const Eigen::Vector3f &	interest_point,
		int	descriptor_size,
		float	support_size
	)

Same as above.

static void pcl::Narf::extractFromRangeImageAndAddToList	(	const RangeImage &	range_image,
		const Eigen::Vector3f &	interest_point,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list
	)

static

Add features extracted at the given interest point and add them to the list.

static void pcl::Narf::extractFromRangeImageAndAddToList	(	const RangeImage &	range_image,
		float	image_x,
		float	image_y,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list
	)

static

Same as above.

bool pcl::Narf::extractFromRangeImageWithBestRotation	(	const RangeImage &	range_image,
		const Eigen::Vector3f &	interest_point,
		int	descriptor_size,
		float	support_size
	)

Same as above, but using the rotational invariant version by choosing the best extracted rotation around the normal.

Use extractFromRangeImageAndAddToList if you want to enable the system to return multiple features with different rotations.

void pcl::Narf::freeSurfacePatch ( )

inline

Method to erase the surface patch and free the memory.

Definition at line 219 of file narf.h.

const float* pcl::Narf::getDescriptor ( ) const

inline

Getter (const) for the descriptor.

Definition at line 171 of file narf.h.

float* pcl::Narf::getDescriptor ( )

inline

Getter for the descriptor.

Definition at line 174 of file narf.h.

float pcl::Narf::getDescriptorDistance ( const Narf & other ) const

inline

Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum distance.

Definition at line 43 of file narf.hpp.

const int& pcl::Narf::getDescriptorSize ( ) const

inline

Getter (const) for the descriptor length.

Definition at line 177 of file narf.h.

int& pcl::Narf::getDescriptorSize ( )

inline

Getter for the descriptor length.

Definition at line 180 of file narf.h.

int pcl::Narf::getNoOfBeamPoints ( ) const

inline

How many points on each beam of the gradient star are used to calculate the descriptor?

Definition at line 144 of file narf.h.

const Eigen::Vector3f& pcl::Narf::getPosition ( ) const

inline

Getter (const) for the position.

Definition at line 183 of file narf.h.

Eigen::Vector3f& pcl::Narf::getPosition ( )

inline

Getter for the position.

Definition at line 186 of file narf.h.

void pcl::Narf::getRotatedVersions	(	const RangeImage &	range_image,
		const std::vector< float > &	rotations,
		std::vector< Narf * > &	features
	)		const

void pcl::Narf::getRotations	(	std::vector< float > &	rotations,
		std::vector< float > &	strengths
	)		const

const float* pcl::Narf::getSurfacePatch ( ) const

inline

Getter (const) for the surface patch.

Definition at line 213 of file narf.h.

float* pcl::Narf::getSurfacePatch ( )

inline

Getter for the surface patch.

Definition at line 216 of file narf.h.

const int& pcl::Narf::getSurfacePatchPixelSize ( ) const

inline

Getter (const) for the pixel size of the surface patch (only one dimension)

Definition at line 195 of file narf.h.

int& pcl::Narf::getSurfacePatchPixelSize ( )

inline

Getter for the pixel size of the surface patch (only one dimension)

Definition at line 198 of file narf.h.

const float& pcl::Narf::getSurfacePatchRotation ( ) const

inline

Getter (const) for the rotation of the surface patch.

Definition at line 207 of file narf.h.

float& pcl::Narf::getSurfacePatchRotation ( )

inline

Getter for the rotation of the surface patch.

Definition at line 210 of file narf.h.

const float& pcl::Narf::getSurfacePatchWorldSize ( ) const

inline

Getter (const) for the world size of the surface patch.

Definition at line 201 of file narf.h.

float& pcl::Narf::getSurfacePatchWorldSize ( )

inline

Getter for the world size of the surface patch.

Definition at line 204 of file narf.h.

const Eigen::Affine3f& pcl::Narf::getTransformation ( ) const

inline

Getter (const) for the 6DoF pose.

Definition at line 189 of file narf.h.

Eigen::Affine3f& pcl::Narf::getTransformation ( )

inline

Getter for the 6DoF pose.

Definition at line 192 of file narf.h.

void pcl::Narf::loadBinary ( const std::string & filename )

Read from file.

void pcl::Narf::loadBinary ( std::istream & file )

Read from input stream.

const Narf& pcl::Narf::operator= ( const Narf & other )

Assignment operator.

void pcl::Narf::saveBinary ( const std::string & filename ) const

Write to file.

void pcl::Narf::saveBinary ( std::ostream & file ) const

Write to output stream.

void pcl::Narf::setDescriptor ( float * descriptor )

inline

Setter for the descriptor.

Definition at line 224 of file narf.h.

void pcl::Narf::setSurfacePatch ( float * surface_patch )

inline

Setter for the surface patch.

Definition at line 227 of file narf.h.

Member Data Documentation

int pcl::Narf::max_no_of_threads

static

The maximum number of openmp threads that can be used in this class.

Definition at line 75 of file narf.h.

The documentation for this class was generated from the following files:

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/narf.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/narf.hpp

Classes

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation