NARF (Normal Aligned Radial Feature) keypoints. More...

#include <pcl/keypoints/narf_keypoint.h>

Inheritance diagram for pcl::NarfKeypoint:

Collaboration diagram for pcl::NarfKeypoint:

Classes
struct	Parameters
	Parameters used in this class. More...

Public Types
typedef Keypoint < PointWithRange, int >	BaseClass

typedef Keypoint < PointWithRange, int > ::PointCloudOut	PointCloudOut

typedef pcl::search::Search < PointWithRange >	KdTree

typedef pcl::search::Search < PointWithRange >::Ptr	KdTreePtr

typedef pcl::PointCloud < PointWithRange >	PointCloudIn

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)>	SearchMethod

typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>	SearchMethodSurface

typedef pcl::PointCloud < PointWithRange >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=NULL, float support_size=-1.0f)

	~NarfKeypoint ()

void	clearData ()
	Erase all data calculated for the current range image. More...

void	setRangeImageBorderExtractor (RangeImageBorderExtractor *range_image_border_extractor)
	Set the RangeImageBorderExtractor member (required) More...

RangeImageBorderExtractor *	getRangeImageBorderExtractor ()
	Get the RangeImageBorderExtractor member. More...

void	setRangeImage (const RangeImage *range_image)
	Set the RangeImage member of the RangeImageBorderExtractor. More...

float *	getInterestImage ()
	Extract interest value per image point. More...

const ::pcl::PointCloud < InterestPoint > &	getInterestPoints ()
	Extract maxima from an interest image. More...

const std::vector< bool > &	getIsInterestPointImage ()
	Set all points in the image that are interest points to true, the rest to false. More...

Parameters &	getParameters ()
	Getter for the parameter struct. More...

const RangeImage &	getRangeImage ()
	Getter for the range image of range_image_border_extractor_. More...

void	compute (PointCloudOut &output)
	Overwrite the compute function of the base class. More...

virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for. More...

PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...

double	getSearchParameter ()
	Get the internal search parameter. More...

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation. More...

int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation. More...

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More...

double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors. More...

void	compute (PointCloudOut &output)
	Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...

int	searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointWithRange &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

NARF (Normal Aligned Radial Feature) keypoints.

Input is a range image, output the indices of the keypoints

Author: Bastian Steder

Definition at line 57 of file narf_keypoint.h.

Member Typedef Documentation

typedef Keypoint<PointWithRange, int> pcl::NarfKeypoint::BaseClass

Definition at line 61 of file narf_keypoint.h.

typedef pcl::search::Search<PointWithRange > pcl::Keypoint< PointWithRange , int >::KdTree

inherited

Definition at line 62 of file keypoint.h.

typedef pcl::search::Search<PointWithRange >::Ptr pcl::Keypoint< PointWithRange , int >::KdTreePtr

inherited

Definition at line 63 of file keypoint.h.

typedef pcl::PointCloud<PointWithRange > pcl::PCLBase< PointWithRange >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointWithRange >::PointCloudConstPtr

inherited

Definition at line 76 of file pcl_base.h.

typedef pcl::PointCloud<PointWithRange > pcl::Keypoint< PointWithRange , int >::PointCloudIn

inherited

Definition at line 64 of file keypoint.h.

typedef PointCloudIn::ConstPtr pcl::Keypoint< PointWithRange , int >::PointCloudInConstPtr

inherited

Definition at line 66 of file keypoint.h.

typedef PointCloudIn::Ptr pcl::Keypoint< PointWithRange , int >::PointCloudInPtr

inherited

Definition at line 65 of file keypoint.h.

typedef Keypoint<PointWithRange, int>::PointCloudOut pcl::NarfKeypoint::PointCloudOut

Definition at line 63 of file narf_keypoint.h.

typedef PointCloud::Ptr pcl::PCLBase< PointWithRange >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointWithRange >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointWithRange >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointWithRange , int >::SearchMethod

inherited

Definition at line 68 of file keypoint.h.

typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointWithRange , int >::SearchMethodSurface

inherited

Definition at line 69 of file keypoint.h.

Constructor & Destructor Documentation

pcl::NarfKeypoint::NarfKeypoint	(	RangeImageBorderExtractor *	range_image_border_extractor = `NULL`,
		float	support_size = `-1.0f`
	)

pcl::NarfKeypoint::~NarfKeypoint ( )

Member Function Documentation

void pcl::NarfKeypoint::clearData ( )

Erase all data calculated for the current range image.

void pcl::Keypoint< PointWithRange , int >::compute ( PointCloudOut & output)

inlineinherited

Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

output the resultant point cloud model dataset containing the estimated features

void pcl::NarfKeypoint::compute ( PointCloudOut & output)

Overwrite the compute function of the base class.

IndicesPtr const pcl::PCLBase< PointWithRange >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointWithRange >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

float* pcl::NarfKeypoint::getInterestImage ( )

inline

Extract interest value per image point.

Definition at line 135 of file narf_keypoint.h.

const ::pcl::PointCloud<InterestPoint>& pcl::NarfKeypoint::getInterestPoints ( )

inline

Extract maxima from an interest image.

Definition at line 139 of file narf_keypoint.h.

const std::vector<bool>& pcl::NarfKeypoint::getIsInterestPointImage ( )

inline

Set all points in the image that are interest points to true, the rest to false.

Definition at line 143 of file narf_keypoint.h.

int pcl::Keypoint< PointWithRange , int >::getKSearch ( )

inlineinherited

get the number of k nearest neighbors used for the feature estimation.

Definition at line 117 of file keypoint.h.

Parameters& pcl::NarfKeypoint::getParameters ( )

inline

Getter for the parameter struct.

Definition at line 147 of file narf_keypoint.h.

double pcl::Keypoint< PointWithRange , int >::getRadiusSearch ( )

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 128 of file keypoint.h.

const RangeImage& pcl::NarfKeypoint::getRangeImage ( )

Getter for the range image of range_image_border_extractor_.

RangeImageBorderExtractor* pcl::NarfKeypoint::getRangeImageBorderExtractor ( )

inline

Get the RangeImageBorderExtractor member.

Definition at line 127 of file narf_keypoint.h.

KdTreePtr pcl::Keypoint< PointWithRange , int >::getSearchMethod ( )

inlineinherited

Get a pointer to the search method used.

Definition at line 103 of file keypoint.h.

double pcl::Keypoint< PointWithRange , int >::getSearchParameter ( )

inlineinherited

Get the internal search parameter.

Definition at line 107 of file keypoint.h.

PointCloudInConstPtr pcl::Keypoint< PointWithRange , int >::getSearchSurface ( )

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 93 of file keypoint.h.

const PointWithRange & pcl::PCLBase< PointWithRange >::operator[] ( size_t pos)

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

int pcl::Keypoint< PointWithRange , int >::searchForNeighbors	(	int	index,
		double	parameter,
		std::vector< int > &	indices,
		std::vector< float > &	distances
	)		const

inlineinherited

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters

index	the index of the query point
parameter	the search parameter (either k or radius)
indices	the resultant vector of indices representing the k-nearest neighbors
distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 146 of file keypoint.h.

void pcl::PCLBase< PointWithRange >::setIndices ( const IndicesPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::setIndices ( const IndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::setIndices ( const PointIndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointWithRange >::setInputCloud ( const PointCloudConstPtr & cloud)

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

void pcl::Keypoint< PointWithRange , int >::setKSearch ( int k)

inlineinherited

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

k	the number of k-nearest neighbors

Definition at line 113 of file keypoint.h.

void pcl::Keypoint< PointWithRange , int >::setRadiusSearch ( double radius)

inlineinherited

Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.

Parameters

radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 124 of file keypoint.h.

void pcl::NarfKeypoint::setRangeImage ( const RangeImage * range_image)

Set the RangeImage member of the RangeImageBorderExtractor.

void pcl::NarfKeypoint::setRangeImageBorderExtractor ( RangeImageBorderExtractor * range_image_border_extractor)

Set the RangeImageBorderExtractor member (required)

void pcl::Keypoint< PointWithRange , int >::setSearchMethod ( const KdTreePtr & tree)

inlineinherited

Provide a pointer to the search object.

Parameters

tree	a pointer to the spatial search object.

Definition at line 99 of file keypoint.h.

virtual void pcl::Keypoint< PointWithRange , int >::setSearchSurface ( const PointCloudInConstPtr & cloud)

inlinevirtualinherited

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 89 of file keypoint.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/keypoints/include/pcl/keypoints/narf_keypoint.h

Classes

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation