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

#include <pcl/features/narf_descriptor.h>

Inheritance diagram for pcl::NarfDescriptor:

Collaboration diagram for pcl::NarfDescriptor:

Classes
struct	Parameters

Public Types
using	Ptr = shared_ptr< NarfDescriptor >

using	ConstPtr = shared_ptr< const NarfDescriptor >

using	BaseClass = Feature< PointWithRange, Narf36 >

Public Types inherited from pcl::Feature< PointWithRange, Narf36 >
using	BaseClass = PCLBase< PointWithRange >

using	Ptr = shared_ptr< Feature< PointWithRange, Narf36 > >

using	ConstPtr = shared_ptr< const Feature< PointWithRange, Narf36 > >

using	KdTree = pcl::search::Search< PointWithRange >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointWithRange >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< Narf36 >

using	SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	NarfDescriptor (const RangeImage range_image=nullptr, const pcl::Indices indices=nullptr)
	Constructor. More...

	~NarfDescriptor () override
	Destructor. More...

void	setRangeImage (const RangeImage range_image, const pcl::Indices indices=nullptr)
	Set input data. More...

void	compute (PointCloudOut &output)
	Overwrite the compute function of the base class. More...

Parameters &	getParameters ()
	Get a reference to the parameters struct. More...

Public Member Functions inherited from pcl::Feature< PointWithRange, Narf36 >
	Feature ()
	Empty constructor. 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< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	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 PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	computeFeature (PointCloudOut &output) override
	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 (std::size_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...

int	searchForNeighbors (const PointCloudIn &cloud, std::size_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...

Protected Member Functions inherited from pcl::PCLBase< PointT >
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 RangeImage *	range_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< PointT >
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 55 of file narf_descriptor.h.

Member Typedef Documentation

◆ BaseClass

using pcl::NarfDescriptor::BaseClass = Feature<PointWithRange,Narf36>

Definition at line 61 of file narf_descriptor.h.

◆ ConstPtr

using pcl::NarfDescriptor::ConstPtr = shared_ptr<const NarfDescriptor>

Definition at line 59 of file narf_descriptor.h.

◆ Ptr

using pcl::NarfDescriptor::Ptr = shared_ptr<NarfDescriptor>

Definition at line 58 of file narf_descriptor.h.

Constructor & Destructor Documentation

◆ NarfDescriptor()

pcl::NarfDescriptor::NarfDescriptor	(	const RangeImage *	range_image = `nullptr`,
		const pcl::Indices *	indices = `nullptr`
	)

Constructor.

◆ ~NarfDescriptor()

pcl::NarfDescriptor::~NarfDescriptor ( )

override

Destructor.

Member Function Documentation

◆ compute()

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

Overwrite the compute function of the base class.

◆ computeFeature()

void pcl::NarfDescriptor::computeFeature ( PointCloudOut & output )

overrideprotectedvirtual

Implementation of abstract derived function.

Implements pcl::Feature< PointWithRange, Narf36 >.

◆ getParameters()

Parameters& pcl::NarfDescriptor::getParameters ( )

inline

Get a reference to the parameters struct.

Definition at line 89 of file narf_descriptor.h.

◆ setRangeImage()

void pcl::NarfDescriptor::setRangeImage	(	const RangeImage *	range_image,
		const pcl::Indices *	indices = `nullptr`
	)

Set input data.

Member Data Documentation

◆ parameters_

Parameters pcl::NarfDescriptor::parameters_

protected

Definition at line 94 of file narf_descriptor.h.

◆ range_image_

const RangeImage* pcl::NarfDescriptor::range_image_ {}