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

#include <pcl/keypoints/narf_keypoint.h>

Inheritance diagram for pcl::NarfKeypoint:

Collaboration diagram for pcl::NarfKeypoint:

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

Public Types
using	Ptr = shared_ptr< NarfKeypoint >

using	ConstPtr = shared_ptr< const NarfKeypoint >

using	BaseClass = Keypoint< PointWithRange, int >

using	PointCloudOut = Keypoint< PointWithRange, int >::PointCloudOut

Public Types inherited from pcl::Keypoint< PointWithRange, int >
using	Ptr = shared_ptr< Keypoint< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > >

using	BaseClass = PCLBase< PointInT >

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

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< PointOutT >

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

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

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

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=nullptr, float support_size=-1.0f)

	~NarfKeypoint () override

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...

RangeImageBorderExtractor *	getRangeImageBorderExtractor ()
	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...

Parameters &	getParameters ()
	Getter for the parameter struct. More...

const RangeImage &	getRangeImage ()
	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 ()=default

	Keypoint ()
	Empty constructor. More...

void	harrisCorner (PointWithRange &output, PointWithRange &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)

void	hessianBlob (PointWithRange &output, PointWithRange &input, const float sigma, bool SCALE)

void	hessianBlob (PointWithRange &output, PointWithRange &input, const float start_scale, const float scaling_factor, const int num_scales)

void	imageElementMultiply (PointWithRange &output, PointWithRange &input1, PointWithRange &input2)

	~Keypoint () override=default
	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 (pcl::index_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...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	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 PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	calculateScaleSpace ()

void	calculateInterestImage ()

void	calculateCompleteInterestImage ()

void	calculateSparseInterestImage ()

void	calculateInterestPoints ()

void	detectKeypoints (PointCloudOut &output) override
	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< PointInT >
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
RangeImageBorderExtractor *	range_image_border_extractor_

Parameters	parameters_

float *	interest_image_ {nullptr}

::pcl::PointCloud< InterestPoint > *	interest_points_ {nullptr}

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< PointInT >
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 60 of file narf_keypoint.h.

Member Typedef Documentation

◆ BaseClass

using pcl::NarfKeypoint::BaseClass = Keypoint<PointWithRange, int>

Definition at line 67 of file narf_keypoint.h.

◆ ConstPtr

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

Definition at line 64 of file narf_keypoint.h.

◆ PointCloudOut

using pcl::NarfKeypoint::PointCloudOut = Keypoint<PointWithRange, int>::PointCloudOut

Definition at line 69 of file narf_keypoint.h.

◆ Ptr

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

Definition at line 63 of file narf_keypoint.h.

Constructor & Destructor Documentation

◆ NarfKeypoint()

pcl::NarfKeypoint::NarfKeypoint	(	RangeImageBorderExtractor *	range_image_border_extractor = `nullptr`,
		float	support_size = `-1.0f`
	)

◆ ~NarfKeypoint()

pcl::NarfKeypoint::~NarfKeypoint ( )

override

Member Function Documentation

◆ calculateCompleteInterestImage()

void pcl::NarfKeypoint::calculateCompleteInterestImage ( )

protected

◆ calculateInterestImage()

void pcl::NarfKeypoint::calculateInterestImage ( )

protected

◆ calculateInterestPoints()

void pcl::NarfKeypoint::calculateInterestPoints ( )

protected

◆ calculateScaleSpace()

void pcl::NarfKeypoint::calculateScaleSpace ( )

protected

◆ calculateSparseInterestImage()

void pcl::NarfKeypoint::calculateSparseInterestImage ( )

protected

◆ clearData()

void pcl::NarfKeypoint::clearData ( )

Erase all data calculated for the current range image.

◆ compute()

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

Overwrite the compute function of the base class.

◆ detectKeypoints()

void pcl::NarfKeypoint::detectKeypoints ( PointCloudOut & output )

overrideprotected

Detect key points.

◆ getInterestImage()

float* pcl::NarfKeypoint::getInterestImage ( )

inline

Extract interest value per image point.

Definition at line 135 of file narf_keypoint.h.

◆ getInterestPoints()

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

inline

Extract maxima from an interest image.

Definition at line 139 of file narf_keypoint.h.

◆ getIsInterestPointImage()

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 143 of file narf_keypoint.h.

◆ getParameters()

Parameters& pcl::NarfKeypoint::getParameters ( )

inline

Getter for the parameter struct.

Definition at line 147 of file narf_keypoint.h.

◆ getRangeImage()

const RangeImage& pcl::NarfKeypoint::getRangeImage ( )

Getter for the range image of range_image_border_extractor_.

◆ getRangeImageBorderExtractor()

RangeImageBorderExtractor* pcl::NarfKeypoint::getRangeImageBorderExtractor ( )

inline

Get the RangeImageBorderExtractor member.

Definition at line 127 of file narf_keypoint.h.

◆ setRangeImage()

void pcl::NarfKeypoint::setRangeImage ( const RangeImage * range_image )

Set the RangeImage member of the RangeImageBorderExtractor.

◆ setRangeImageBorderExtractor()

void pcl::NarfKeypoint::setRangeImageBorderExtractor ( RangeImageBorderExtractor * range_image_border_extractor )

Set the RangeImageBorderExtractor member (required)

Member Data Documentation

◆ border_extractor_scale_space_

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

protected

Definition at line 183 of file narf_keypoint.h.

◆ interest_image_

float* pcl::NarfKeypoint::interest_image_ {nullptr}

protected

Definition at line 179 of file narf_keypoint.h.

◆ interest_image_scale_space_

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

protected

Definition at line 184 of file narf_keypoint.h.

◆ interest_points_

::pcl::PointCloud<InterestPoint>* pcl::NarfKeypoint::interest_points_ {nullptr}

protected

Definition at line 180 of file narf_keypoint.h.

◆ is_interest_point_image_

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

protected

Definition at line 181 of file narf_keypoint.h.

◆ parameters_

Parameters pcl::NarfKeypoint::parameters_

protected

Definition at line 178 of file narf_keypoint.h.

◆ range_image_border_extractor_

RangeImageBorderExtractor* pcl::NarfKeypoint::range_image_border_extractor_

protected

Definition at line 177 of file narf_keypoint.h.

◆ range_image_scale_space_

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

protected

Definition at line 182 of file narf_keypoint.h.

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

pcl/keypoints/narf_keypoint.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ BaseClass

◆ ConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ NarfKeypoint()

◆ ~NarfKeypoint()

Member Function Documentation

◆ calculateCompleteInterestImage()

◆ calculateInterestImage()

◆ calculateInterestPoints()

◆ calculateScaleSpace()

◆ calculateSparseInterestImage()

◆ clearData()

◆ compute()

◆ detectKeypoints()

◆ getInterestImage()

◆ getInterestPoints()

◆ getIsInterestPointImage()

◆ getParameters()

◆ getRangeImage()

◆ getRangeImageBorderExtractor()

◆ setRangeImage()

◆ setRangeImageBorderExtractor()

Member Data Documentation

◆ border_extractor_scale_space_

◆ interest_image_

◆ interest_image_scale_space_

◆ interest_points_

◆ is_interest_point_image_

◆ parameters_

◆ range_image_border_extractor_

◆ range_image_scale_space_