Point Cloud Library (PCL)
1.7.0
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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 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) | |
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. | |
Protected Member Functions | |
void | calculateScaleSpace () |
void | calculateInterestImage () |
void | calculateCompleteInterestImage () |
void | calculateSparseInterestImage () |
void | calculateInterestPoints () |
virtual void | detectKeypoints (PointCloudOut &output) |
Detect key points. | |
Protected Attributes | |
RangeImageBorderExtractor * | range_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_ |
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.
Definition at line 60 of file narf_keypoint.h.
typedef Keypoint<PointWithRange, int> pcl::NarfKeypoint::BaseClass |
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.
typedef Keypoint<PointWithRange, int>::PointCloudOut pcl::NarfKeypoint::PointCloudOut |
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.
pcl::NarfKeypoint::NarfKeypoint | ( | RangeImageBorderExtractor * | range_image_border_extractor = NULL , |
float | support_size = -1.0f |
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virtual pcl::NarfKeypoint::~NarfKeypoint | ( | ) | [virtual] |
void pcl::NarfKeypoint::calculateCompleteInterestImage | ( | ) | [protected] |
void pcl::NarfKeypoint::calculateInterestImage | ( | ) | [protected] |
void pcl::NarfKeypoint::calculateInterestPoints | ( | ) | [protected] |
void pcl::NarfKeypoint::calculateScaleSpace | ( | ) | [protected] |
void pcl::NarfKeypoint::calculateSparseInterestImage | ( | ) | [protected] |
void pcl::NarfKeypoint::clearData | ( | ) |
Erase all data calculated for the current range image.
void pcl::NarfKeypoint::compute | ( | PointCloudOut & | output | ) |
Overwrite the compute function of the base class.
virtual void pcl::NarfKeypoint::detectKeypoints | ( | PointCloudOut & | output | ) | [protected, virtual] |
Detect key points.
float* pcl::NarfKeypoint::getInterestImage | ( | ) | [inline] |
Extract interest value per image point.
Definition at line 141 of file narf_keypoint.h.
const ::pcl::PointCloud<InterestPoint>& pcl::NarfKeypoint::getInterestPoints | ( | ) | [inline] |
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.
Parameters& pcl::NarfKeypoint::getParameters | ( | ) | [inline] |
Getter for the parameter struct.
Definition at line 153 of file narf_keypoint.h.
const RangeImage& pcl::NarfKeypoint::getRangeImage | ( | ) |
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.
void pcl::NarfKeypoint::setRangeImageBorderExtractor | ( | RangeImageBorderExtractor * | range_image_border_extractor | ) |
Set the RangeImageBorderExtractor member (required)
std::vector<RangeImageBorderExtractor*> pcl::NarfKeypoint::border_extractor_scale_space_ [protected] |
Definition at line 189 of file narf_keypoint.h.
float* pcl::NarfKeypoint::interest_image_ [protected] |
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.
::pcl::PointCloud<InterestPoint>* pcl::NarfKeypoint::interest_points_ [protected] |
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.
Parameters pcl::NarfKeypoint::parameters_ [protected] |
Definition at line 184 of file narf_keypoint.h.
Definition at line 183 of file narf_keypoint.h.
std::vector<RangeImage*> pcl::NarfKeypoint::range_image_scale_space_ [protected] |
Definition at line 188 of file narf_keypoint.h.