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

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

#include <pcl/keypoints/narf_keypoint.h>

+ Inheritance diagram for pcl::NarfKeypoint:
+ Collaboration diagram for pcl::NarfKeypoint:

Classes

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

Public Types

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

Public Member Functions

 NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=nullptr, float support_size=-1.0f)
 
 ~NarfKeypoint () override
 
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...
 
RangeImageBorderExtractorgetRangeImageBorderExtractor ()
 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...
 
ParametersgetParameters ()
 Getter for the parameter struct. More...
 
const RangeImagegetRangeImage ()
 Getter for the range image of range_image_border_extractor_. More...
 
void compute (PointCloudOut &output)
 Overwrite the compute function of the base class. More...
 
- Public Member Functions inherited from pcl::Keypoint< PointWithRange, int >
 Keypoint ()=default
 
 Keypoint ()
 Empty constructor. More...
 
void harrisCorner (PointWithRange &output, PointWithRange &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
 
void hessianBlob (PointWithRange &output, PointWithRange &input, const float sigma, bool SCALE)
 
void hessianBlob (PointWithRange &output, PointWithRange &input, const float start_scale, const float scaling_factor, const int num_scales)
 
void imageElementMultiply (PointWithRange &output, PointWithRange &input1, PointWithRange &input2)
 
 ~Keypoint () override=default
 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...
 
pcl::PointIndicesConstPtr getKeypointsIndices ()
 
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 (pcl::index_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...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 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 PointInT & operator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void calculateScaleSpace ()
 
void calculateInterestImage ()
 
void calculateCompleteInterestImage ()
 
void calculateSparseInterestImage ()
 
void calculateInterestPoints ()
 
void detectKeypoints (PointCloudOut &output) override
 Detect key points. More...
 
- Protected Member Functions inherited from pcl::Keypoint< PointWithRange, int >
virtual bool initCompute ()
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual void detectKeypoints (PointCloudOut &output)=0
 Abstract key point detection method. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
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

RangeImageBorderExtractorrange_image_border_extractor_
 
Parameters parameters_
 
float * interest_image_ {nullptr}
 
::pcl::PointCloud< InterestPoint > * interest_points_ {nullptr}
 
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_
 
- Protected Attributes inherited from pcl::Keypoint< PointWithRange, int >
std::string name_
 The key point detection method's name. More...
 
SearchMethod search_method_
 The search method template for indices. 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 (casted 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...
 
pcl::PointIndicesPtr keypoints_indices_
 Indices of the keypoints in the input cloud. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
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

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

◆ BaseClass

Definition at line 67 of file narf_keypoint.h.

◆ ConstPtr

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

Definition at line 64 of file narf_keypoint.h.

◆ PointCloudOut

Definition at line 69 of file narf_keypoint.h.

◆ Ptr

using pcl::NarfKeypoint::Ptr = shared_ptr<NarfKeypoint>

Definition at line 63 of file narf_keypoint.h.

Constructor & Destructor Documentation

◆ NarfKeypoint()

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

◆ ~NarfKeypoint()

pcl::NarfKeypoint::~NarfKeypoint ( )
override

Member Function Documentation

◆ calculateCompleteInterestImage()

void pcl::NarfKeypoint::calculateCompleteInterestImage ( )
protected

◆ calculateInterestImage()

void pcl::NarfKeypoint::calculateInterestImage ( )
protected

◆ calculateInterestPoints()

void pcl::NarfKeypoint::calculateInterestPoints ( )
protected

◆ calculateScaleSpace()

void pcl::NarfKeypoint::calculateScaleSpace ( )
protected

◆ calculateSparseInterestImage()

void pcl::NarfKeypoint::calculateSparseInterestImage ( )
protected

◆ clearData()

void pcl::NarfKeypoint::clearData ( )

Erase all data calculated for the current range image.

◆ compute()

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

Overwrite the compute function of the base class.

◆ detectKeypoints()

void pcl::NarfKeypoint::detectKeypoints ( PointCloudOut output)
overrideprotected

Detect key points.

◆ getInterestImage()

float* pcl::NarfKeypoint::getInterestImage ( )
inline

Extract interest value per image point.

Definition at line 135 of file narf_keypoint.h.

◆ getInterestPoints()

const ::pcl::PointCloud<InterestPoint>& pcl::NarfKeypoint::getInterestPoints ( )
inline

Extract maxima from an interest image.

Definition at line 139 of file narf_keypoint.h.

◆ getIsInterestPointImage()

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 143 of file narf_keypoint.h.

◆ getParameters()

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

Getter for the parameter struct.

Definition at line 147 of file narf_keypoint.h.

◆ getRangeImage()

const RangeImage& pcl::NarfKeypoint::getRangeImage ( )

Getter for the range image of range_image_border_extractor_.

◆ getRangeImageBorderExtractor()

RangeImageBorderExtractor* pcl::NarfKeypoint::getRangeImageBorderExtractor ( )
inline

Get the RangeImageBorderExtractor member.

Definition at line 127 of file narf_keypoint.h.

◆ setRangeImage()

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

Set the RangeImage member of the RangeImageBorderExtractor.

◆ setRangeImageBorderExtractor()

void pcl::NarfKeypoint::setRangeImageBorderExtractor ( RangeImageBorderExtractor range_image_border_extractor)

Set the RangeImageBorderExtractor member (required)

Member Data Documentation

◆ border_extractor_scale_space_

std::vector<RangeImageBorderExtractor*> pcl::NarfKeypoint::border_extractor_scale_space_
protected

Definition at line 183 of file narf_keypoint.h.

◆ interest_image_

float* pcl::NarfKeypoint::interest_image_ {nullptr}
protected

Definition at line 179 of file narf_keypoint.h.

◆ interest_image_scale_space_

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

Definition at line 184 of file narf_keypoint.h.

◆ interest_points_

::pcl::PointCloud<InterestPoint>* pcl::NarfKeypoint::interest_points_ {nullptr}
protected

Definition at line 180 of file narf_keypoint.h.

◆ is_interest_point_image_

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

Definition at line 181 of file narf_keypoint.h.

◆ parameters_

Parameters pcl::NarfKeypoint::parameters_
protected

Definition at line 178 of file narf_keypoint.h.

◆ range_image_border_extractor_

RangeImageBorderExtractor* pcl::NarfKeypoint::range_image_border_extractor_
protected

Definition at line 177 of file narf_keypoint.h.

◆ range_image_scale_space_

std::vector<RangeImage*> pcl::NarfKeypoint::range_image_scale_space_
protected

Definition at line 182 of file narf_keypoint.h.


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