Point Cloud Library (PCL)  1.11.0-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:


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

Public Member Functions

 NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=nullptr, float support_size=-1.0f)
 ~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 (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 ()
 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...

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 Attributes

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...

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.

Bastian Steder

Definition at line 60 of file narf_keypoint.h.

Member Typedef Documentation

◆ BaseClass

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

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 ( )

Member Function Documentation

◆ calculateCompleteInterestImage()

void pcl::NarfKeypoint::calculateCompleteInterestImage ( )

◆ calculateInterestImage()

void pcl::NarfKeypoint::calculateInterestImage ( )

◆ calculateInterestPoints()

void pcl::NarfKeypoint::calculateInterestPoints ( )

◆ calculateScaleSpace()

void pcl::NarfKeypoint::calculateScaleSpace ( )

◆ calculateSparseInterestImage()

void pcl::NarfKeypoint::calculateSparseInterestImage ( )

◆ 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)

Detect key points.

◆ getInterestImage()

float* pcl::NarfKeypoint::getInterestImage ( )

Extract interest value per image point.

Definition at line 141 of file narf_keypoint.h.

◆ getInterestPoints()

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

Extract maxima from an interest image.

Definition at line 145 of file narf_keypoint.h.

◆ getIsInterestPointImage()

const std::vector<bool>& pcl::NarfKeypoint::getIsInterestPointImage ( )

Set all points in the image that are interest points to true, the rest to false.

Definition at line 149 of file narf_keypoint.h.

◆ getParameters()

Parameters& pcl::NarfKeypoint::getParameters ( )

Getter for the parameter struct.

Definition at line 153 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 ( )

Get the RangeImageBorderExtractor member.

Definition at line 133 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_

Definition at line 189 of file narf_keypoint.h.

◆ interest_image_

float* pcl::NarfKeypoint::interest_image_

Definition at line 185 of file narf_keypoint.h.

◆ interest_image_scale_space_

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

Definition at line 190 of file narf_keypoint.h.

◆ interest_points_

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

Definition at line 186 of file narf_keypoint.h.

◆ is_interest_point_image_

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

Definition at line 187 of file narf_keypoint.h.

◆ parameters_

Parameters pcl::NarfKeypoint::parameters_

Definition at line 184 of file narf_keypoint.h.

◆ range_image_border_extractor_

RangeImageBorderExtractor* pcl::NarfKeypoint::range_image_border_extractor_

Definition at line 183 of file narf_keypoint.h.

◆ range_image_scale_space_

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

Definition at line 188 of file narf_keypoint.h.

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