NARF (Normal Aligned Radial Feature) keypoints. Input is a range image, output the indices of the keypoints More...
#include <narf_keypoint.h>
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 | calculateCompleteInterestImage () |
| void | calculateInterestImage () |
| void | calculateInterestPoints () |
| void | calculateScaleSpace () |
| void | calculateSparseInterestImage () |
| 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_ |
Detailed Description
NARF (Normal Aligned Radial Feature) keypoints. Input is a range image, output the indices of the keypoints
Definition at line 57 of file narf_keypoint.h.
Member Typedef Documentation
| typedef Keypoint<PointWithRange, int> pcl::NarfKeypoint::BaseClass |
Reimplemented from pcl::Keypoint< PointWithRange, int >.
Definition at line 61 of file narf_keypoint.h.
| typedef Keypoint<PointWithRange, int>::PointCloudOut pcl::NarfKeypoint::PointCloudOut |
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 |
||
| ) |
Definition at line 48 of file narf_keypoint.cpp.
Definition at line 59 of file narf_keypoint.cpp.
Member Function Documentation
| void pcl::NarfKeypoint::calculateCompleteInterestImage | ( | ) | [protected] |
Definition at line 265 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::calculateInterestImage | ( | ) | [protected] |
Definition at line 251 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::calculateInterestPoints | ( | ) | [protected] |
Definition at line 737 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::calculateScaleSpace | ( | ) | [protected] |
Definition at line 103 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::calculateSparseInterestImage | ( | ) | [protected] |
Definition at line 463 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::clearData | ( | ) |
Erase all data calculated for the current range image.
Definition at line 67 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::compute | ( | NarfKeypoint::PointCloudOut & | output | ) |
Overwrite the compute function of the base class.
Definition at line 953 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::detectKeypoints | ( | NarfKeypoint::PointCloudOut & | output | ) | [protected, virtual] |
Detect key points.
Definition at line 912 of file narf_keypoint.cpp.
| float* pcl::NarfKeypoint::getInterestImage | ( | ) | [inline] |
Extract interest value per image point
Definition at line 135 of file narf_keypoint.h.
| const ::pcl::PointCloud<InterestPoint>& pcl::NarfKeypoint::getInterestPoints | ( | ) | [inline] |
Extract maxima from an interest image.
Definition at line 139 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 143 of file narf_keypoint.h.
| Parameters& pcl::NarfKeypoint::getParameters | ( | ) | [inline] |
Getter for the parameter struct.
Definition at line 147 of file narf_keypoint.h.
| const RangeImage & pcl::NarfKeypoint::getRangeImage | ( | ) |
Getter for the range image of range_image_border_extractor_.
Definition at line 906 of file narf_keypoint.cpp.
Get the RangeImageBorderExtractor member.
Definition at line 127 of file narf_keypoint.h.
| void pcl::NarfKeypoint::setRangeImage | ( | const RangeImage * | range_image | ) |
Set the RangeImage member of the RangeImageBorderExtractor.
Definition at line 95 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::setRangeImageBorderExtractor | ( | RangeImageBorderExtractor * | range_image_border_extractor | ) |
Set the RangeImageBorderExtractor member (required)
Definition at line 87 of file narf_keypoint.cpp.
Member Data Documentation
std::vector<RangeImageBorderExtractor*> pcl::NarfKeypoint::border_extractor_scale_space_ [protected] |
Definition at line 183 of file narf_keypoint.h.
float* pcl::NarfKeypoint::interest_image_ [protected] |
Definition at line 179 of file narf_keypoint.h.
std::vector<float*> pcl::NarfKeypoint::interest_image_scale_space_ [protected] |
Definition at line 184 of file narf_keypoint.h.
::pcl::PointCloud<InterestPoint>* pcl::NarfKeypoint::interest_points_ [protected] |
Definition at line 180 of file narf_keypoint.h.
std::vector<bool> pcl::NarfKeypoint::is_interest_point_image_ [protected] |
Definition at line 181 of file narf_keypoint.h.
Parameters pcl::NarfKeypoint::parameters_ [protected] |
Definition at line 178 of file narf_keypoint.h.
Definition at line 177 of file narf_keypoint.h.
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 files: