Point Cloud Library (PCL)  1.3.1
Classes | Public Types | Public Member Functions
pcl::NarfKeypoint Class Reference

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

#include <pcl/keypoints/narf_keypoint.h>

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List of all members.

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)
RangeImageBorderExtractorgetRangeImageBorderExtractor ()
 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.
ParametersgetParameters ()
 Getter for the parameter struct.
const RangeImagegetRangeImage ()
 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.

Detailed Description

NARF (Normal Aligned Radial Feature) keypoints.

Input is a range image, output the indices of the keypoints

Author:
Bastian Steder

Member Typedef Documentation

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.

Definition at line 65 of file keypoint.h.

Definition at line 64 of file keypoint.h.

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.


Constructor & Destructor Documentation

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

Member Function Documentation

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 ()

Parameters:
outputthe 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.

Parameters:
indexthe index of the query point
parameterthe search parameter (either k or radius)
indicesthe resultant vector of indices representing the k-nearest neighbors
distancesthe 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.

Parameters:
kthe 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.

Parameters:
radiusthe 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.

Parameters:
treea 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.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 78 of file keypoint.h.


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