Point Cloud Library (PCL)  1.14.1-dev
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pcl::NarfDescriptor Class Reference

Computes NARF feature descriptors for points in a range image See B. More...

#include <pcl/features/narf_descriptor.h>

+ Inheritance diagram for pcl::NarfDescriptor:
+ Collaboration diagram for pcl::NarfDescriptor:

Classes

struct  Parameters
 

Public Types

using Ptr = shared_ptr< NarfDescriptor >
 
using ConstPtr = shared_ptr< const NarfDescriptor >
 
using BaseClass = Feature< PointWithRange, Narf36 >
 
- Public Types inherited from pcl::Feature< PointWithRange, Narf36 >
using BaseClass = PCLBase< PointWithRange >
 
using Ptr = shared_ptr< Feature< PointWithRange, Narf36 > >
 
using ConstPtr = shared_ptr< const Feature< PointWithRange, Narf36 > >
 
using KdTree = pcl::search::Search< PointWithRange >
 
using KdTreePtr = typename KdTree::Ptr
 
using PointCloudIn = pcl::PointCloud< PointWithRange >
 
using PointCloudInPtr = typename PointCloudIn::Ptr
 
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
 
using PointCloudOut = pcl::PointCloud< Narf36 >
 
using SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>
 
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 NarfDescriptor (const RangeImage *range_image=nullptr, const pcl::Indices *indices=nullptr)
 Constructor. More...
 
 ~NarfDescriptor () override
 Destructor. More...
 
void setRangeImage (const RangeImage *range_image, const pcl::Indices *indices=nullptr)
 Set input data. More...
 
void compute (PointCloudOut &output)
 Overwrite the compute function of the base class. More...
 
ParametersgetParameters ()
 Get a reference to the parameters struct. More...
 
- Public Member Functions inherited from pcl::Feature< PointWithRange, Narf36 >
 Feature ()
 Empty constructor. More...
 
void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...
 
PointCloudInConstPtr getSearchSurface () const
 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 () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 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 () const
 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 feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
void compute (PointCloudOut &output)
 Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void computeFeature (PointCloudOut &output) override
 Implementation of abstract derived function. More...
 
- Protected Member Functions inherited from pcl::Feature< PointWithRange, Narf36 >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
int searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
int searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

const RangeImagerange_image_ {}
 
Parameters parameters_
 
- Protected Attributes inherited from pcl::Feature< PointWithRange, Narf36 >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

Computes NARF feature descriptors for points in a range image 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 55 of file narf_descriptor.h.

Member Typedef Documentation

◆ BaseClass

Definition at line 61 of file narf_descriptor.h.

◆ ConstPtr

using pcl::NarfDescriptor::ConstPtr = shared_ptr<const NarfDescriptor>

Definition at line 59 of file narf_descriptor.h.

◆ Ptr

Definition at line 58 of file narf_descriptor.h.

Constructor & Destructor Documentation

◆ NarfDescriptor()

pcl::NarfDescriptor::NarfDescriptor ( const RangeImage range_image = nullptr,
const pcl::Indices indices = nullptr 
)

Constructor.

◆ ~NarfDescriptor()

pcl::NarfDescriptor::~NarfDescriptor ( )
override

Destructor.

Member Function Documentation

◆ compute()

void pcl::NarfDescriptor::compute ( PointCloudOut output)

Overwrite the compute function of the base class.

◆ computeFeature()

void pcl::NarfDescriptor::computeFeature ( PointCloudOut output)
overrideprotectedvirtual

Implementation of abstract derived function.

Implements pcl::Feature< PointWithRange, Narf36 >.

◆ getParameters()

Parameters& pcl::NarfDescriptor::getParameters ( )
inline

Get a reference to the parameters struct.

Definition at line 89 of file narf_descriptor.h.

◆ setRangeImage()

void pcl::NarfDescriptor::setRangeImage ( const RangeImage range_image,
const pcl::Indices indices = nullptr 
)

Set input data.

Member Data Documentation

◆ parameters_

Parameters pcl::NarfDescriptor::parameters_
protected

Definition at line 94 of file narf_descriptor.h.

◆ range_image_

const RangeImage* pcl::NarfDescriptor::range_image_ {}
protected

Definition at line 93 of file narf_descriptor.h.


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