Classes | Public Member Functions | Static Public Member Functions | Static Public Attributes

pcl::Narf Class Reference
[Module features]

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

#include <pcl/features/narf.h>

List of all members.

Classes

struct  FeaturePointRepresentation

Public Member Functions

 Narf ()
 Constructor.
 Narf (const Narf &other)
 Copy Constructor.
 ~Narf ()
 Destructor.
const Narfoperator= (const Narf &other)
 Assignment operator.
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.
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.
bool extractFromRangeImage (const RangeImage &range_image, const InterestPoint &interest_point, int descriptor_size, float support_size)
 Same as above.
bool extractFromRangeImage (const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size)
 Same as above.
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.
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.
int getNoOfBeamPoints () const
 How many points on each beam of the gradient star are used to calculate the descriptor?
void copyToNarf36 (Narf36 &narf36) const
 Copy the descriptor and pose to the point struct Narf36.
void saveBinary (const std::string &filename) const
 Write to file.
void saveBinary (std::ostream &file) const
 Write to output stream.
void loadBinary (const std::string &filename)
 Read from file.
void loadBinary (std::istream &file)
 Read from input stream.
bool extractDescriptor (int descriptor_size)
 Create the descriptor from the already set other members.
const float * getDescriptor () const
 Getter (const) for the descriptor.
float * getDescriptor ()
 Getter for the descriptor.
const int & getDescriptorSize () const
 Getter (const) for the descriptor length.
int & getDescriptorSize ()
 Getter for the descriptor length.
const Eigen::Vector3f & getPosition () const
 Getter (const) for the position.
Eigen::Vector3f & getPosition ()
 Getter for the position.
const Eigen::Affine3f & getTransformation () const
 Getter (const) for the 6DoF pose.
Eigen::Affine3f & getTransformation ()
 Getter for the 6DoF pose.
const int & getSurfacePatchPixelSize () const
 Getter (const) for the pixel size of the surface patch (only one dimension).
int & getSurfacePatchPixelSize ()
 Getter for the pixel size of the surface patch (only one dimension).
const float & getSurfacePatchWorldSize () const
 Getter (const) for the world size of the surface patch.
float & getSurfacePatchWorldSize ()
 Getter for the world size of the surface patch.
const float & getSurfacePatchRotation () const
 Getter (const) for the rotation of the surface patch.
float & getSurfacePatchRotation ()
 Getter for the rotation of the surface patch.
const float * getSurfacePatch () const
 Getter (const) for the surface patch.
float * getSurfacePatch ()
 Getter for the surface patch.
void freeSurfacePatch ()
 Method to erase the surface patch and free the memory.
void setDescriptor (float *descriptor)
 Setter for the descriptor.
void setSurfacePatch (float *surface_patch)
 Setter for the surface patch.

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.
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.
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.
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.

Static Public Attributes

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

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 50 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 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.

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.

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 42 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.

float& pcl::Narf::getSurfacePatchWorldSize (  )  [inline]

Getter for the world size of the surface patch.

Definition at line 204 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.

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 ( std::ostream &  file  )  const

Write to output stream.

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

Write to file.

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

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: