Point Cloud Library (PCL)
1.3.1
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NARF (Normal Aligned Radial Feature) keypoints. More...
#include <pcl/keypoints/narf_keypoint.h>
Classes | |
struct | Parameters |
Parameters used in this class. More... | |
Public Types | |
typedef Keypoint < PointWithRange, int > | BaseClass |
typedef Keypoint < PointWithRange, int > ::PointCloudOut | PointCloudOut |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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 Member Functions | |
NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=NULL, float support_size=-1.0f) | |
~NarfKeypoint () | |
void | clearData () |
Erase all data calculated for the current range image. | |
void | setRangeImageBorderExtractor (RangeImageBorderExtractor *range_image_border_extractor) |
Set the RangeImageBorderExtractor member (required) | |
RangeImageBorderExtractor * | getRangeImageBorderExtractor () |
Get the RangeImageBorderExtractor member. | |
void | setRangeImage (const RangeImage *range_image) |
Set the RangeImage member of the RangeImageBorderExtractor. | |
float * | getInterestImage () |
Extract interest value per image point. | |
const ::pcl::PointCloud < InterestPoint > & | getInterestPoints () |
Extract maxima from an interest image. | |
const std::vector< bool > & | getIsInterestPointImage () |
Set all points in the image that are interest points to true, the rest to false. | |
Parameters & | getParameters () |
Getter for the parameter struct. | |
const RangeImage & | getRangeImage () |
Getter for the range image of range_image_border_extractor_. | |
void | compute (PointCloudOut &output) |
Overwrite the compute function of the base class. | |
void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset that we need to estimate features at every point for. | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. | |
double | getSearchParameter () |
Get the internal search parameter. | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. | |
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 () | |
int | searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. |
NARF (Normal Aligned Radial Feature) keypoints.
Input is a range image, output the indices of the keypoints
typedef Keypoint<PointWithRange, int> pcl::NarfKeypoint::BaseClass |
Reimplemented from pcl::Keypoint< PointWithRange, int >.
Definition at line 61 of file narf_keypoint.h.
typedef pcl::search::Search<PointInT> pcl::Keypoint::KdTree [inherited] |
Definition at line 61 of file keypoint.h.
typedef pcl::search::Search<PointInT>::Ptr pcl::Keypoint::KdTreePtr [inherited] |
Definition at line 62 of file keypoint.h.
typedef pcl::PointCloud<PointInT> pcl::Keypoint::PointCloudIn [inherited] |
Definition at line 63 of file keypoint.h.
typedef PointCloudIn::ConstPtr pcl::Keypoint::PointCloudInConstPtr [inherited] |
Definition at line 65 of file keypoint.h.
typedef PointCloudIn::Ptr pcl::Keypoint::PointCloudInPtr [inherited] |
Definition at line 64 of file keypoint.h.
typedef Keypoint<PointWithRange, int>::PointCloudOut pcl::NarfKeypoint::PointCloudOut |
Reimplemented from pcl::Keypoint< PointWithRange, int >.
Definition at line 63 of file narf_keypoint.h.
typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint::SearchMethod [inherited] |
Definition at line 67 of file keypoint.h.
typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint::SearchMethodSurface [inherited] |
Definition at line 68 of file keypoint.h.
pcl::NarfKeypoint::NarfKeypoint | ( | RangeImageBorderExtractor * | range_image_border_extractor = NULL , |
float | support_size = -1.0f |
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) |
pcl::NarfKeypoint::~NarfKeypoint | ( | ) |
void pcl::NarfKeypoint::clearData | ( | ) |
Erase all data calculated for the current range image.
void pcl::Keypoint::compute | ( | PointCloudOut & | output | ) | [inline, inherited] |
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
output | the resultant point cloud model dataset containing the estimated features |
void pcl::NarfKeypoint::compute | ( | PointCloudOut & | output | ) |
Overwrite the compute function of the base class.
float* pcl::NarfKeypoint::getInterestImage | ( | ) | [inline] |
Extract interest value per image point.
Definition at line 130 of file narf_keypoint.h.
const ::pcl::PointCloud<InterestPoint>& pcl::NarfKeypoint::getInterestPoints | ( | ) | [inline] |
Extract maxima from an interest image.
Definition at line 134 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 138 of file narf_keypoint.h.
int pcl::Keypoint::getKSearch | ( | ) | [inline, inherited] |
get the number of k nearest neighbors used for the feature estimation.
Definition at line 106 of file keypoint.h.
Parameters& pcl::NarfKeypoint::getParameters | ( | ) | [inline] |
Getter for the parameter struct.
Definition at line 142 of file narf_keypoint.h.
double pcl::Keypoint::getRadiusSearch | ( | ) | [inline, inherited] |
Get the sphere radius used for determining the neighbors.
Definition at line 117 of file 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 122 of file narf_keypoint.h.
KdTreePtr pcl::Keypoint::getSearchMethod | ( | ) | [inline, inherited] |
Get a pointer to the search method used.
Definition at line 92 of file keypoint.h.
double pcl::Keypoint::getSearchParameter | ( | ) | [inline, inherited] |
Get the internal search parameter.
Definition at line 96 of file keypoint.h.
PointCloudInConstPtr pcl::Keypoint::getSearchSurface | ( | ) | [inline, inherited] |
Get a pointer to the surface point cloud dataset.
Definition at line 82 of file keypoint.h.
int pcl::Keypoint::searchForNeighbors | ( | int | index, |
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | [inline, inherited] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
index | the index of the query point |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
Definition at line 135 of file keypoint.h.
void pcl::Keypoint::setKSearch | ( | int | k | ) | [inline, inherited] |
Set the number of k nearest neighbors to use for the feature estimation.
k | the number of k-nearest neighbors |
Definition at line 102 of file keypoint.h.
void pcl::Keypoint::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
radius | the sphere radius used as the maximum distance to consider a point a neighbor |
Definition at line 113 of file 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)
void pcl::Keypoint::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
Provide a pointer to the search object.
tree | a pointer to the spatial search object. |
Definition at line 88 of file keypoint.h.
void pcl::Keypoint::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, inherited] |
Provide a pointer to the input dataset that we need to estimate features at every point for.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 78 of file keypoint.h.