Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

pcl::NarfKeypoint Class Reference
[Module keypoints]

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

#include <pcl/keypoints/narf_keypoint.h>

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List of all members.

Classes

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

Public Types

typedef Keypoint
< PointWithRange, int > 
BaseClass
typedef Keypoint
< PointWithRange, int >
::PointCloudOut 
PointCloudOut

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.
void setRangeImageBorderExtractor (RangeImageBorderExtractor *range_image_border_extractor)
 Set the RangeImageBorderExtractor member (required).
RangeImageBorderExtractorgetRangeImageBorderExtractor ()
 Get the RangeImageBorderExtractor member.
void setRangeImage (const RangeImage *range_image)
 Set the RangeImage member of the RangeImageBorderExtractor.
float * getInterestImage ()
 Extract interest value per image point.
const ::pcl::PointCloud
< InterestPoint > & 
getInterestPoints ()
 Extract maxima from an interest image.
const std::vector< bool > & getIsInterestPointImage ()
 Set all points in the image that are interest points to true, the rest to false.
ParametersgetParameters ()
 Getter for the parameter struct.
const RangeImagegetRangeImage ()
 Getter for the range image of range_image_border_extractor_.
void compute (PointCloudOut &output)
 Overwrite the compute function of the base class.

Protected Member Functions

void calculateScaleSpace ()
void calculateInterestImage ()
void calculateInterestPoints ()
virtual void detectKeypoints (PointCloudOut &output)
 Detect key points.

Protected Attributes

RangeImageBorderExtractorrange_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_

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

Reimplemented from pcl::Keypoint< PointWithRange, int >.

Definition at line 61 of file narf_keypoint.h.

Reimplemented from pcl::Keypoint< PointWithRange, int >.

Definition at line 63 of file narf_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::calculateInterestImage (  )  [protected]
void pcl::NarfKeypoint::calculateInterestPoints (  )  [protected]
void pcl::NarfKeypoint::calculateScaleSpace (  )  [protected]
void pcl::NarfKeypoint::clearData (  ) 

Erase all data calculated for the current range image.

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

Overwrite the compute function of the base class.

virtual void pcl::NarfKeypoint::detectKeypoints ( PointCloudOut output  )  [protected, virtual]

Detect key points.

float* pcl::NarfKeypoint::getInterestImage (  )  [inline]

Extract interest value per image point.

Definition at line 130 of file narf_keypoint.h.

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

Extract maxima from an interest image.

Definition at line 134 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 138 of file narf_keypoint.h.

Parameters& pcl::NarfKeypoint::getParameters (  )  [inline]

Getter for the parameter struct.

Definition at line 142 of file narf_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 122 of file narf_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).


Member Data Documentation

Definition at line 174 of file narf_keypoint.h.

Definition at line 170 of file narf_keypoint.h.

std::vector<float*> pcl::NarfKeypoint::interest_image_scale_space_ [protected]

Definition at line 175 of file narf_keypoint.h.

Definition at line 171 of file narf_keypoint.h.

std::vector<bool> pcl::NarfKeypoint::is_interest_point_image_ [protected]

Definition at line 172 of file narf_keypoint.h.

Definition at line 169 of file narf_keypoint.h.

Definition at line 168 of file narf_keypoint.h.

Definition at line 173 of file narf_keypoint.h.


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