Point Cloud Library (PCL)  1.7.0
Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::NarfKeypoint Class Reference

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

#include <pcl/keypoints/narf_keypoint.h>

+ Inheritance diagram for pcl::NarfKeypoint:

List of all members.

Classes

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

Public Types

typedef boost::shared_ptr
< NarfKeypoint
Ptr
typedef boost::shared_ptr
< const NarfKeypoint
ConstPtr
typedef Keypoint
< PointWithRange, int > 
BaseClass
typedef Keypoint
< PointWithRange, int >
::PointCloudOut 
PointCloudOut

Public Member Functions

 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.
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.

Protected Member Functions

void calculateScaleSpace ()
void calculateInterestImage ()
void calculateCompleteInterestImage ()
void calculateSparseInterestImage ()
void calculateInterestPoints ()
virtual void detectKeypoints (PointCloudOut &output)
 Detect key points.

Protected Attributes

RangeImageBorderExtractorrange_image_border_extractor_
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_

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

Reimplemented from pcl::Keypoint< PointWithRange, int >.

Definition at line 67 of file narf_keypoint.h.

typedef boost::shared_ptr<const NarfKeypoint> pcl::NarfKeypoint::ConstPtr

Reimplemented from pcl::Keypoint< PointWithRange, int >.

Definition at line 64 of file narf_keypoint.h.

Reimplemented from pcl::Keypoint< PointWithRange, int >.

Definition at line 69 of file narf_keypoint.h.

typedef boost::shared_ptr<NarfKeypoint> pcl::NarfKeypoint::Ptr

Reimplemented from pcl::Keypoint< PointWithRange, int >.

Definition at line 63 of file narf_keypoint.h.


Constructor & Destructor Documentation

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

Member Function Documentation

Erase all data calculated for the current range image.

Overwrite the compute function of the base class.

virtual void pcl::NarfKeypoint::detectKeypoints ( PointCloudOut output) [protected, virtual]

Detect key points.

Extract interest value per image point.

Definition at line 141 of file narf_keypoint.h.

Extract maxima from an interest image.

Definition at line 145 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 149 of file narf_keypoint.h.

Getter for the parameter struct.

Definition at line 153 of file narf_keypoint.h.

Getter for the range image of range_image_border_extractor_.

Get the RangeImageBorderExtractor member.

Definition at line 133 of file narf_keypoint.h.

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

Set the RangeImage member of the RangeImageBorderExtractor.

Set the RangeImageBorderExtractor member (required)


Member Data Documentation

Definition at line 189 of file narf_keypoint.h.

Definition at line 185 of file narf_keypoint.h.

std::vector<float*> pcl::NarfKeypoint::interest_image_scale_space_ [protected]

Definition at line 190 of file narf_keypoint.h.

Definition at line 186 of file narf_keypoint.h.

std::vector<bool> pcl::NarfKeypoint::is_interest_point_image_ [protected]

Definition at line 187 of file narf_keypoint.h.

Definition at line 184 of file narf_keypoint.h.

Definition at line 183 of file narf_keypoint.h.

Definition at line 188 of file narf_keypoint.h.


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