|
typedef boost::shared_ptr
< NarfKeypoint > | Ptr |
|
typedef boost::shared_ptr
< const NarfKeypoint > | ConstPtr |
|
typedef Keypoint
< PointWithRange, int > | BaseClass |
|
typedef Keypoint
< PointWithRange, int >
::PointCloudOut | PointCloudOut |
|
typedef boost::shared_ptr
< Keypoint< PointWithRange,
int > > | Ptr |
|
typedef boost::shared_ptr
< const Keypoint
< PointWithRange, int > > | ConstPtr |
|
typedef PCLBase< PointWithRange > | BaseClass |
|
typedef pcl::search::Search
< PointWithRange > | KdTree |
|
typedef pcl::search::Search
< PointWithRange >::Ptr | KdTreePtr |
|
typedef pcl::PointCloud
< PointWithRange > | PointCloudIn |
|
typedef PointCloudIn::Ptr | PointCloudInPtr |
|
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
|
typedef pcl::PointCloud< int > | PointCloudOut |
|
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 |
|
typedef pcl::PointCloud
< PointWithRange > | PointCloud |
|
typedef PointCloud::Ptr | PointCloudPtr |
|
typedef PointCloud::ConstPtr | PointCloudConstPtr |
|
typedef boost::shared_ptr
< PointIndices > | PointIndicesPtr |
|
typedef boost::shared_ptr
< PointIndices const > | PointIndicesConstPtr |
|
|
| NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=NULL, float support_size=-1.0f) |
|
virtual | ~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...
|
|
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...
|
|
| Keypoint () |
| Empty constructor. More...
|
|
virtual | ~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...
|
|
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...
|
|
| PCLBase () |
| Empty constructor. More...
|
|
| PCLBase (const PCLBase &base) |
| Copy constructor. More...
|
|
virtual | ~PCLBase () |
| Destructor. More...
|
|
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More...
|
|
PointCloudConstPtr const | getInputCloud () |
| 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More...
|
|
IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. More...
|
|
const PointWithRange & | operator[] (size_t pos) |
| Override PointCloud operator[] to shorten code. More...
|
|
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.