pcl::NarfKeypoint Class Reference

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

#include <pcl/keypoints/narf_keypoint.h>

Inheritance diagram for pcl::NarfKeypoint:

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

Public Types
using	Ptr = shared_ptr< NarfKeypoint >
using	ConstPtr = shared_ptr< const NarfKeypoint >
using	BaseClass = Keypoint< PointWithRange, int >
using	PointCloudOut = Keypoint< PointWithRange, int >::PointCloudOut
Public Types inherited from pcl::Keypoint< PointWithRange, int >
using	Ptr = shared_ptr< Keypoint< PointInT, PointOutT > >
using	ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > >
using	BaseClass = PCLBase< PointInT >
using	KdTree = pcl::search::Search< PointInT >
using	KdTreePtr = typename KdTree::Ptr
using	PointCloudIn = pcl::PointCloud< PointInT >
using	PointCloudInPtr = typename PointCloudIn::Ptr
using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using	PointCloudOut = pcl::PointCloud< PointOutT >
using	SearchMethod = std::function< int(int, double, std::vector< int > &, std::vector< float > &)>
using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>

Public Member Functions
	NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=nullptr, 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...
Public Member Functions inherited from pcl::Keypoint< PointWithRange, int >
	Keypoint ()
	Keypoint ()
	Empty constructor. More...
void	harrisCorner (PointWithRange &output, PointWithRange &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
void	hessianBlob (PointWithRange &output, PointWithRange &input, const float sigma, bool SCALE)
void	hessianBlob (PointWithRange &output, PointWithRange &input, const float start_scale, const float scaling_factor, const int num_scales)
void	imageElementMultiply (PointWithRange &output, PointWithRange &input1, PointWithRange &input2)
	~Keypoint ()
	Empty destructor. 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...
pcl::PointIndicesConstPtr	getKeypointsIndices ()
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...

Protected Member Functions
void	calculateScaleSpace ()
void	calculateInterestImage ()
void	calculateCompleteInterestImage ()
void	calculateSparseInterestImage ()
void	calculateInterestPoints ()
void	detectKeypoints (PointCloudOut &output) override
	Detect key points. More...
Protected Member Functions inherited from pcl::Keypoint< PointWithRange, int >
virtual bool	initCompute ()
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...
virtual void	detectKeypoints (PointCloudOut &output)=0
	Abstract key point detection method. More...

Protected Attributes
RangeImageBorderExtractor *	range_image_border_extractor_
Parameters	parameters_
float *	interest_image_
::pcl::PointCloud< InterestPoint > *	interest_points_
std::vector< bool >	is_interest_point_image_
std::vector< RangeImage * >	range_image_scale_space_
std::vector< RangeImageBorderExtractor * >	border_extractor_scale_space_
std::vector< float * >	interest_image_scale_space_
Protected Attributes inherited from pcl::Keypoint< PointWithRange, int >
std::string	name_
	The key point detection method's name. More...
SearchMethod	search_method_
	The search method template for indices. More...
SearchMethodSurface	search_method_surface_
	The search method template for points. More...
PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
KdTreePtr	tree_
	A pointer to the spatial search object. More...
double	search_parameter_
	The actual search parameter (casted from either search_radius_ or k_). More...
double	search_radius_
	The nearest neighbors search radius for each point. More...
int	k_
	The number of K nearest neighbors to use for each point. More...
pcl::PointIndicesPtr	keypoints_indices_
	Indices of the keypoints in the input cloud. More...

Detailed Description

NARF (Normal Aligned Radial Feature) keypoints.

Input is a range image, output the indices of the keypoints See B. Steder, R. B. Rusu, K. Konolige, and W. Burgard Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries In Proc. of the IEEE Int. Conf. on Robotics &Automation (ICRA). 2011.

Author

Bastian Steder

Definition at line 60 of file narf_keypoint.h.

Member Typedef Documentation

BaseClass

using pcl::NarfKeypoint::BaseClass = Keypoint<PointWithRange, int>

Definition at line 67 of file narf_keypoint.h.

ConstPtr

using pcl::NarfKeypoint::ConstPtr = shared_ptr<const NarfKeypoint>

Definition at line 64 of file narf_keypoint.h.

PointCloudOut

using pcl::NarfKeypoint::PointCloudOut = Keypoint<PointWithRange, int>::PointCloudOut

Definition at line 69 of file narf_keypoint.h.

Ptr

using pcl::NarfKeypoint::Ptr = shared_ptr<NarfKeypoint>

Definition at line 63 of file narf_keypoint.h.

Constructor & Destructor Documentation

NarfKeypoint()

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

~NarfKeypoint()

pcl::NarfKeypoint::~NarfKeypoint

(

)

Member Function Documentation

calculateCompleteInterestImage()

void pcl::NarfKeypoint::calculateCompleteInterestImage ( )

protected

calculateInterestImage()

void pcl::NarfKeypoint::calculateInterestImage ( )

protected

calculateInterestPoints()

void pcl::NarfKeypoint::calculateInterestPoints ( )

protected

calculateScaleSpace()

void pcl::NarfKeypoint::calculateScaleSpace ( )

protected

calculateSparseInterestImage()

void pcl::NarfKeypoint::calculateSparseInterestImage ( )

protected

clearData()

void pcl::NarfKeypoint::clearData

(

)

Erase all data calculated for the current range image.

compute()

void pcl::NarfKeypoint::compute

(

PointCloudOut &

output

)

Overwrite the compute function of the base class.

detectKeypoints()

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

overrideprotected

Detect key points.

getInterestImage()

float* pcl::NarfKeypoint::getInterestImage ( )

inline

Extract interest value per image point.

Definition at line 141 of file narf_keypoint.h.

getInterestPoints()

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

inline

Extract maxima from an interest image.

Definition at line 145 of file narf_keypoint.h.

getIsInterestPointImage()

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 149 of file narf_keypoint.h.

getParameters()

Parameters& pcl::NarfKeypoint::getParameters ( )

inline

Getter for the parameter struct.

Definition at line 153 of file narf_keypoint.h.

getRangeImage()

const RangeImage& pcl::NarfKeypoint::getRangeImage

(

)

Getter for the range image of range_image_border_extractor_.

getRangeImageBorderExtractor()

RangeImageBorderExtractor* pcl::NarfKeypoint::getRangeImageBorderExtractor ( )

inline

Get the RangeImageBorderExtractor member.

Definition at line 133 of file narf_keypoint.h.

setRangeImage()

void pcl::NarfKeypoint::setRangeImage

(

const RangeImage *

range_image

)

Set the RangeImage member of the RangeImageBorderExtractor.

setRangeImageBorderExtractor()

void pcl::NarfKeypoint::setRangeImageBorderExtractor

(

RangeImageBorderExtractor *

range_image_border_extractor

)

Set the RangeImageBorderExtractor member (required)

Member Data Documentation

border_extractor_scale_space_

std::vector<RangeImageBorderExtractor*> pcl::NarfKeypoint::border_extractor_scale_space_

protected

Definition at line 189 of file narf_keypoint.h.

interest_image_

float* pcl::NarfKeypoint::interest_image_

protected

Definition at line 185 of file narf_keypoint.h.

interest_image_scale_space_

std::vector<float*> pcl::NarfKeypoint::interest_image_scale_space_

protected

Definition at line 190 of file narf_keypoint.h.

interest_points_

::pcl::PointCloud<InterestPoint>* pcl::NarfKeypoint::interest_points_

protected

Definition at line 186 of file narf_keypoint.h.

is_interest_point_image_

std::vector<bool> pcl::NarfKeypoint::is_interest_point_image_

protected

Definition at line 187 of file narf_keypoint.h.

parameters_

Parameters pcl::NarfKeypoint::parameters_

protected

Definition at line 184 of file narf_keypoint.h.

range_image_border_extractor_

RangeImageBorderExtractor* pcl::NarfKeypoint::range_image_border_extractor_

protected

Definition at line 183 of file narf_keypoint.h.

range_image_scale_space_

std::vector<RangeImage*> pcl::NarfKeypoint::range_image_scale_space_

protected

Definition at line 188 of file narf_keypoint.h.

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

• pcl/keypoints/narf_keypoint.h