NARF (Normal Aligned Radial Feature) keypoints. More...
#include <pcl/keypoints/narf_keypoint.h>
Classes |
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| struct | Parameters |
| Parameters used in this class. More... |
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Public Types |
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| 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 > |
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| 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(pcl::index_t, double, pcl::Indices &, std::vector< float > &)> |
| using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)> |
Public Member Functions |
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| 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... |
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| void | setRangeImageBorderExtractor (RangeImageBorderExtractor *range_image_border_extractor) |
| Set the RangeImageBorderExtractor member (required) More... |
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| RangeImageBorderExtractor * | getRangeImageBorderExtractor () |
| Get the RangeImageBorderExtractor member. More... |
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| void | setRangeImage (const RangeImage *range_image) |
| Set the RangeImage member of the RangeImageBorderExtractor. More... |
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| float * | getInterestImage () |
| Extract interest value per image point. More... |
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| const ::pcl::PointCloud< InterestPoint > & | getInterestPoints () |
| Extract maxima from an interest image. More... |
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| const std::vector< bool > & | getIsInterestPointImage () |
| Set all points in the image that are interest points to true, the rest to false. More... |
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| Parameters & | getParameters () |
| Getter for the parameter struct. More... |
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| const RangeImage & | getRangeImage () |
| Getter for the range image of range_image_border_extractor_. More... |
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| void | compute (PointCloudOut &output) |
| Overwrite the compute function of the base class. More... |
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| Public Member Functions inherited from pcl::Keypoint< PointWithRange, int > |
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| Keypoint () | |
| Keypoint () | |
| Empty constructor. More... |
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| 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... |
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| virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to the input dataset that we need to estimate features at every point for. More... |
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| PointCloudInConstPtr | getSearchSurface () |
| Get a pointer to the surface point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. More... |
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| double | getSearchParameter () |
| Get the internal search parameter. More... |
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| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... |
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| int | getKSearch () |
| get the number of k nearest neighbors used for the feature estimation. More... |
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| 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... |
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| double | getRadiusSearch () |
| Get the sphere radius used for determining the neighbors. More... |
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| 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... |
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| int | searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... |
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Protected Member Functions |
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| void | calculateScaleSpace () |
| void | calculateInterestImage () |
| void | calculateCompleteInterestImage () |
| void | calculateSparseInterestImage () |
| void | calculateInterestPoints () |
| void | detectKeypoints (PointCloudOut &output) override |
| Detect key points. More... |
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| Protected Member Functions inherited from pcl::Keypoint< PointWithRange, int > |
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| virtual bool | initCompute () |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual void | detectKeypoints (PointCloudOut &output)=0 |
| Abstract key point detection method. More... |
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Protected Attributes |
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| 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 > |
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| std::string | name_ |
| The key point detection method's name. More... |
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| SearchMethod | search_method_ |
| The search method template for indices. More... |
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| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... |
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| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | search_parameter_ |
| The actual search parameter (casted from either search_radius_ or k_). More... |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| int | k_ |
| The number of K nearest neighbors to use for each point. More... |
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| pcl::PointIndicesPtr | keypoints_indices_ |
| Indices of the keypoints in the input cloud. More... |
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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.
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 |
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| ) |
~NarfKeypoint()
| pcl::NarfKeypoint::~NarfKeypoint | ( | ) |
Member Function Documentation
calculateCompleteInterestImage()
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protected |
calculateInterestImage()
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protected |
calculateInterestPoints()
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calculateScaleSpace()
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protected |
calculateSparseInterestImage()
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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()
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overrideprotected |
Detect key points.
getInterestImage()
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inline |
Extract interest value per image point.
Definition at line 141 of file narf_keypoint.h.
getInterestPoints()
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inline |
Extract maxima from an interest image.
Definition at line 145 of file narf_keypoint.h.
getIsInterestPointImage()
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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()
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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()
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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_
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protected |
Definition at line 189 of file narf_keypoint.h.
interest_image_
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protected |
Definition at line 185 of file narf_keypoint.h.
interest_image_scale_space_
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protected |
Definition at line 190 of file narf_keypoint.h.
interest_points_
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protected |
Definition at line 186 of file narf_keypoint.h.
is_interest_point_image_
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protected |
Definition at line 187 of file narf_keypoint.h.
parameters_
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protected |
Definition at line 184 of file narf_keypoint.h.
range_image_border_extractor_
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protected |
Definition at line 183 of file narf_keypoint.h.
range_image_scale_space_
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protected |
Definition at line 188 of file narf_keypoint.h.
The documentation for this class was generated from the following file:
- pcl/keypoints/narf_keypoint.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_narf_keypoint.html
