Point Cloud Library (PCL)  1.9.1-dev
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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

typedef boost::shared_ptr< NarfKeypointPtr
 
typedef boost::shared_ptr< const NarfKeypointConstPtr
 
typedef Keypoint< PointWithRange, int > BaseClass
 
typedef Keypoint< PointWithRange, int >::PointCloudOut PointCloudOut
 
- Public Types inherited from pcl::Keypoint< PointWithRange, int >
typedef boost::shared_ptr< Keypoint< PointWithRange, int > > Ptr
 
typedef boost::shared_ptr< const Keypoint< PointWithRange, int > > ConstPtr
 
typedef PCLBase< PointWithRangeBaseClass
 
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< int > PointCloudOut
 
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> SearchMethod
 
typedef boost::function< int(const PointCloudIn &cloud, int 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

 NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=NULL, float support_size=-1.0f)
 
virtual ~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...
 
RangeImageBorderExtractorgetRangeImageBorderExtractor ()
 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...
 
ParametersgetParameters ()
 Getter for the parameter struct. More...
 
const RangeImagegetRangeImage ()
 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 (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
 
void hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE)
 
void hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales)
 
void imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2)
 
virtual ~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...
 
- 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

void calculateScaleSpace ()
 
void calculateInterestImage ()
 
void calculateCompleteInterestImage ()
 
void calculateSparseInterestImage ()
 
void calculateInterestPoints ()
 
virtual void detectKeypoints (PointCloudOut &output)
 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 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

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_
 
- 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...
 
- 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

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 59 of file narf_keypoint.h.

Member Typedef Documentation

Definition at line 66 of file narf_keypoint.h.

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

Definition at line 63 of file narf_keypoint.h.

Definition at line 68 of file narf_keypoint.h.

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

Definition at line 62 of file narf_keypoint.h.

Constructor & Destructor Documentation

pcl::NarfKeypoint::NarfKeypoint ( RangeImageBorderExtractor range_image_border_extractor = NULL,
float  support_size = -1.0f 
)
virtual pcl::NarfKeypoint::~NarfKeypoint ( )
virtual

Member Function Documentation

void pcl::NarfKeypoint::calculateCompleteInterestImage ( )
protected
void pcl::NarfKeypoint::calculateInterestImage ( )
protected
void pcl::NarfKeypoint::calculateInterestPoints ( )
protected
void pcl::NarfKeypoint::calculateScaleSpace ( )
protected
void pcl::NarfKeypoint::calculateSparseInterestImage ( )
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)
protectedvirtual

Detect key points.

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

Extract interest value per image point.

Definition at line 140 of file narf_keypoint.h.

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

Extract maxima from an interest image.

Definition at line 144 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 148 of file narf_keypoint.h.

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

Getter for the parameter struct.

Definition at line 152 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 132 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

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

Definition at line 188 of file narf_keypoint.h.

float* pcl::NarfKeypoint::interest_image_
protected

Definition at line 184 of file narf_keypoint.h.

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

Definition at line 189 of file narf_keypoint.h.

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

Definition at line 185 of file narf_keypoint.h.

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

Definition at line 186 of file narf_keypoint.h.

Parameters pcl::NarfKeypoint::parameters_
protected

Definition at line 183 of file narf_keypoint.h.

RangeImageBorderExtractor* pcl::NarfKeypoint::range_image_border_extractor_
protected

Definition at line 182 of file narf_keypoint.h.

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

Definition at line 187 of file narf_keypoint.h.


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