pcl::NarfKeypoint Class Reference

NARF (Normal Aligned Radial Feature) keypoints. Input is a range image, output the indices of the keypoints More...

#include <narf_keypoint.h>

Inheritance diagram for pcl::NarfKeypoint:

[legend]

List of all members.

Classes
struct	Parameters
	Parameters used in this class. More...
Public Types
typedef Keypoint < PointWithRange, int >	BaseClass
typedef Keypoint < PointWithRange, int > ::PointCloudOut	PointCloudOut
Public Member Functions
void	clearData ()
	Erase all data calculated for the current range image.
void	compute (PointCloudOut &output)
	Overwrite the compute function of the base class.
float *	getInterestImage ()
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_.
RangeImageBorderExtractor *	getRangeImageBorderExtractor ()
	Get the RangeImageBorderExtractor member.
	NarfKeypoint (RangeImageBorderExtractor *range_image_border_extractor=NULL, float support_size=-1.0f)
void	setRangeImage (const RangeImage *range_image)
	Set the RangeImage member of the RangeImageBorderExtractor.
void	setRangeImageBorderExtractor (RangeImageBorderExtractor *range_image_border_extractor)
	Set the RangeImageBorderExtractor member (required).
	~NarfKeypoint ()
Protected Member Functions
void	calculateInterestImage ()
void	calculateInterestPoints ()
void	calculateScaleSpace ()
virtual void	detectKeypoints (PointCloudOut &output)
	Detect key points.
Protected Attributes
std::vector < RangeImageBorderExtractor * >	border_extractor_scale_space_
float *	interest_image_
std::vector< float * >	interest_image_scale_space_
::pcl::PointCloud < InterestPoint > *	interest_points_
std::vector< bool >	is_interest_point_image_
Parameters	parameters_
RangeImageBorderExtractor *	range_image_border_extractor_
std::vector< RangeImage * >	range_image_scale_space_

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Detailed Description

NARF (Normal Aligned Radial Feature) keypoints. Input is a range image, output the indices of the keypoints

Author:

Bastian Steder

Definition at line 55 of file narf_keypoint.h.

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Member Typedef Documentation

typedef Keypoint<PointWithRange, int> pcl::NarfKeypoint::BaseClass

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

Definition at line 59 of file narf_keypoint.h.

typedef Keypoint<PointWithRange, int>::PointCloudOut pcl::NarfKeypoint::PointCloudOut

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

Definition at line 61 of file narf_keypoint.h.

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Constructor & Destructor Documentation

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

Definition at line 57 of file narf_keypoint.cpp.

pcl::NarfKeypoint::~NarfKeypoint

(

)

Definition at line 68 of file narf_keypoint.cpp.

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Member Function Documentation

void pcl::NarfKeypoint::calculateInterestImage

(

)

[protected]

Definition at line 255 of file narf_keypoint.cpp.

void pcl::NarfKeypoint::calculateInterestPoints

(

)

[protected]

Definition at line 476 of file narf_keypoint.cpp.

void pcl::NarfKeypoint::calculateScaleSpace

(

)

[protected]

Definition at line 111 of file narf_keypoint.cpp.

void pcl::NarfKeypoint::clearData

(

)

Erase all data calculated for the current range image.

Definition at line 75 of file narf_keypoint.cpp.

void pcl::NarfKeypoint::compute

(

NarfKeypoint::PointCloudOut &

output

)

Overwrite the compute function of the base class.

Definition at line 834 of file narf_keypoint.cpp.

void pcl::NarfKeypoint::detectKeypoints

(

NarfKeypoint::PointCloudOut &

output

)

[protected, virtual]

Detect key points.

Definition at line 792 of file narf_keypoint.cpp.

float* pcl::NarfKeypoint::getInterestImage

(

)

[inline]

Extract interest value per image point

Definition at line 126 of file narf_keypoint.h.

const ::pcl::PointCloud<InterestPoint>& pcl::NarfKeypoint::getInterestPoints

(

)

[inline]

Extract maxima from an interest image.

Definition at line 130 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 134 of file narf_keypoint.h.

Parameters& pcl::NarfKeypoint::getParameters

(

)

[inline]

Getter for the parameter struct.

Definition at line 138 of file narf_keypoint.h.

const RangeImage & pcl::NarfKeypoint::getRangeImage

(

)

Getter for the range image of range_image_border_extractor_.

Definition at line 787 of file narf_keypoint.cpp.

RangeImageBorderExtractor* pcl::NarfKeypoint::getRangeImageBorderExtractor

(

)

[inline]

Get the RangeImageBorderExtractor member.

Definition at line 118 of file narf_keypoint.h.

void pcl::NarfKeypoint::setRangeImage

(

const RangeImage *

range_image

)

Set the RangeImage member of the RangeImageBorderExtractor.

Definition at line 103 of file narf_keypoint.cpp.

void pcl::NarfKeypoint::setRangeImageBorderExtractor

(

RangeImageBorderExtractor *

range_image_border_extractor

)

Set the RangeImageBorderExtractor member (required).

Definition at line 95 of file narf_keypoint.cpp.

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Member Data Documentation

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

Definition at line 170 of file narf_keypoint.h.

float* pcl::NarfKeypoint::interest_image_ [protected]

Definition at line 166 of file narf_keypoint.h.

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

Definition at line 171 of file narf_keypoint.h.

::pcl::PointCloud<InterestPoint>* pcl::NarfKeypoint::interest_points_ [protected]

Definition at line 167 of file narf_keypoint.h.

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

Definition at line 168 of file narf_keypoint.h.

Parameters pcl::NarfKeypoint::parameters_ [protected]

Definition at line 165 of file narf_keypoint.h.

RangeImageBorderExtractor* pcl::NarfKeypoint::range_image_border_extractor_ [protected]

Definition at line 164 of file narf_keypoint.h.

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

Definition at line 169 of file narf_keypoint.h.

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

• narf_keypoint.h
• narf_keypoint.cpp