Point Cloud Library (PCL)  1.9.1-dev
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pcl::NarfDescriptor Class Reference

Computes NARF feature descriptors for points in a range image See B. More...

#include <pcl/features/narf_descriptor.h>

+ Inheritance diagram for pcl::NarfDescriptor:

Classes

struct  Parameters
 

Public Types

typedef boost::shared_ptr< NarfDescriptorPtr
 
typedef boost::shared_ptr< const NarfDescriptorConstPtr
 
typedef Feature< PointWithRange, Narf36BaseClass
 
- Public Types inherited from pcl::Feature< PointWithRange, Narf36 >
typedef PCLBase< PointWithRangeBaseClass
 
typedef boost::shared_ptr< Feature< PointWithRange, Narf36 > > Ptr
 
typedef boost::shared_ptr< const Feature< PointWithRange, Narf36 > > ConstPtr
 
typedef pcl::search::Search< PointWithRangeKdTree
 
typedef pcl::search::Search< PointWithRange >::Ptr KdTreePtr
 
typedef pcl::PointCloud< PointWithRangePointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud< Narf36PointCloudOut
 
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> SearchMethod
 
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector< int > &, std::vector< float > &)> SearchMethodSurface
 
- Public Types inherited from pcl::PCLBase< PointWithRange >
typedef pcl::PointCloud< PointWithRangePointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 NarfDescriptor (const RangeImage *range_image=NULL, const std::vector< int > *indices=NULL)
 Constructor. More...
 
virtual ~NarfDescriptor ()
 Destructor. More...
 
void setRangeImage (const RangeImage *range_image, const std::vector< int > *indices=NULL)
 Set input data. More...
 
void compute (PointCloudOut &output)
 Overwrite the compute function of the base class. More...
 
ParametersgetParameters ()
 Get a reference to the parameters struct. More...
 
- Public Member Functions inherited from pcl::Feature< PointWithRange, Narf36 >
 Feature ()
 Empty constructor. More...
 
virtual ~Feature ()
 Empty destructor. More...
 
void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...
 
PointCloudInConstPtr getSearchSurface () const
 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 () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 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 () const
 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 feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
void compute (PointCloudOut &output)
 Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointWithRange >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual 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...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointWithRangeoperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual void computeFeature (PointCloudOut &output)
 Implementation of abstract derived function. More...
 
- Protected Member Functions inherited from pcl::Feature< PointWithRange, Narf36 >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
int searchForNeighbors (size_t 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...
 
int searchForNeighbors (const PointCloudIn &cloud, size_t 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 inherited from pcl::PCLBase< PointWithRange >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

const RangeImagerange_image_
 
Parameters parameters_
 
- Protected Attributes inherited from pcl::Feature< PointWithRange, Narf36 >
std::string feature_name_
 The feature name. 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 (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...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointWithRange >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

Computes NARF feature descriptors for points in a range image 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 58 of file narf_descriptor.h.

Member Typedef Documentation

Definition at line 64 of file narf_descriptor.h.

typedef boost::shared_ptr<const NarfDescriptor> pcl::NarfDescriptor::ConstPtr

Definition at line 62 of file narf_descriptor.h.

typedef boost::shared_ptr<NarfDescriptor> pcl::NarfDescriptor::Ptr

Definition at line 61 of file narf_descriptor.h.

Constructor & Destructor Documentation

pcl::NarfDescriptor::NarfDescriptor ( const RangeImage range_image = NULL,
const std::vector< int > *  indices = NULL 
)

Constructor.

virtual pcl::NarfDescriptor::~NarfDescriptor ( )
virtual

Destructor.

Member Function Documentation

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

Overwrite the compute function of the base class.

virtual void pcl::NarfDescriptor::computeFeature ( PointCloudOut output)
protectedvirtual

Implementation of abstract derived function.

Implements pcl::Feature< PointWithRange, Narf36 >.

Parameters& pcl::NarfDescriptor::getParameters ( )
inline

Get a reference to the parameters struct.

Definition at line 92 of file narf_descriptor.h.

void pcl::NarfDescriptor::setRangeImage ( const RangeImage range_image,
const std::vector< int > *  indices = NULL 
)

Set input data.

Member Data Documentation

Parameters pcl::NarfDescriptor::parameters_
protected

Definition at line 97 of file narf_descriptor.h.

const RangeImage* pcl::NarfDescriptor::range_image_
protected

Definition at line 96 of file narf_descriptor.h.


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