pcl::Narf Class Reference

NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data. Please refer to pcl/features/narf_descriptor.h if you want the class derived from pcl Feature. 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. More...

#include <narf.h>

List of all members.

Classes
struct	FeaturePointRepresentation
Public Member Functions
void	copyToNarf36 (Narf36 &narf36) const
	Copy the descriptor and pose to the point struct Narf36.
bool	extractDescriptor (int descriptor_size)
	Create the descriptor from the already set other members.
bool	extractFromRangeImage (const RangeImage &range_image, const Eigen::Affine3f &pose, int descriptor_size, float support_size, int surface_patch_world_size=NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE)
bool	extractFromRangeImage (const RangeImage &range_image, float x, float y, int descriptor_size, float support_size)
	Same as above, but determines the transformation from the surface in the range image.
bool	extractFromRangeImage (const RangeImage &range_image, const InterestPoint &interest_point, int descriptor_size, float support_size)
	Same as above.
bool	extractFromRangeImage (const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size)
	Same as above.
bool	extractFromRangeImageWithBestRotation (const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size)
void	freeSurfacePatch ()
	Method to erase the surface patch and free the memory.
const float *	getDescriptor () const
	Getter (const) for the descriptor.
float *	getDescriptor ()
	Getter for the descriptor.
float	getDescriptorDistance (const Narf &other) const
	Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum distance.
const int &	getDescriptorSize () const
	Getter (const) for the descriptor length.
int &	getDescriptorSize ()
	Getter for the descriptor length.
int	getNoOfBeamPoints () const
	How many points on each beam of the gradient star are used to calculate the descriptor?
const Eigen::Vector3f &	getPosition () const
	Getter (const) for the position.
Eigen::Vector3f &	getPosition ()
	Getter for the position.
void	getRotatedVersions (const RangeImage &range_image, const std::vector< float > &rotations, std::vector< Narf * > &features) const
void	getRotations (std::vector< float > &rotations, std::vector< float > &strengths) const
const float *	getSurfacePatch () const
	Getter (const) for the surface patch.
float *	getSurfacePatch ()
	Getter for the surface patch.
const int &	getSurfacePatchPixelSize () const
	Getter (const) for the pixel size of the surface patch (only one dimension)
int &	getSurfacePatchPixelSize ()
	Getter for the pixel size of the surface patch (only one dimension)
const float &	getSurfacePatchRotation () const
	Getter (const) for the rotation of the surface patch.
float &	getSurfacePatchRotation ()
	Getter for the rotation of the surface patch.
const float &	getSurfacePatchWorldSize () const
	Getter (const) for the world size of the surface patch.
float &	getSurfacePatchWorldSize ()
	Getter for the world size of the surface patch.
const Eigen::Affine3f &	getTransformation () const
	Getter (const) for the 6DoF pose.
Eigen::Affine3f &	getTransformation ()
	Getter for the 6DoF pose.
void	loadBinary (const std::string &filename)
void	loadBinary (std::istream &file)
	Narf ()
	Constructor.
	Narf (const Narf &other)
	Copy Constructor.
const Narf &	operator= (const Narf &other)
	Assignment operator.
void	saveBinary (const std::string &filename) const
void	saveBinary (std::ostream &file) const
void	setDescriptor (float *descriptor)
	Setter for the descriptor.
void	setSurfacePatch (float *surface_patch)
	Setter for the surface patch.
	~Narf ()
	Destructor.
Static Public Member Functions
static void	extractForEveryRangeImagePointAndAddToList (const RangeImage &range_image, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list)
static void	extractForInterestPoints (const RangeImage &range_image, const PointCloud< InterestPoint > &interest_points, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list)
static void	extractFromRangeImageAndAddToList (const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list)
static void	extractFromRangeImageAndAddToList (const RangeImage &range_image, float image_x, float image_y, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list)
Static Public Attributes
static int	max_no_of_threads = 1
Protected Member Functions
void	deepCopy (const Narf &other)
	Create a deep copy of other.
float *	getBlurredSurfacePatch (int new_pixel_size, int blur_radius) const
	Get the surface patch with a blur on it.
int	loadHeader (std::istream &file) const
void	reset ()
	Reset al members to default values and free allocated memory.
void	saveHeader (std::ostream &file) const
Static Protected Member Functions
static const std::string	getHeaderKeyword ()
Protected Attributes
float *	descriptor_
int	descriptor_size_
Eigen::Vector3f	position_
float *	surface_patch_
int	surface_patch_pixel_size_
float	surface_patch_rotation_
float	surface_patch_world_size_
Eigen::Affine3f	transformation_
Static Protected Attributes
static const int	VERSION = 1

---

Detailed Description

NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data. Please refer to pcl/features/narf_descriptor.h if you want the class derived from pcl Feature. 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 63 of file narf.h.

---

Constructor & Destructor Documentation

pcl::Narf::Narf

(

)

Constructor.

Definition at line 59 of file narf.cpp.

pcl::Narf::Narf

(

const Narf &

other

)

Copy Constructor.

Definition at line 74 of file narf.cpp.

pcl::Narf::~Narf

(

)

Destructor.

Definition at line 68 of file narf.cpp.

---

Member Function Documentation

void pcl::Narf::copyToNarf36

(

Narf36 &

narf36

)

const [inline]

Copy the descriptor and pose to the point struct Narf36.

Definition at line 53 of file narf.hpp.

void pcl::Narf::deepCopy

(

const Narf &

other

)

[protected]

Create a deep copy of other.

Definition at line 106 of file narf.cpp.

bool pcl::Narf::extractDescriptor

(

int

descriptor_size

)

Create the descriptor from the already set other members.

Definition at line 136 of file narf.cpp.

void pcl::Narf::extractForEveryRangeImagePointAndAddToList	(	const RangeImage &	range_image,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list
	)		[static]

Extract an NARF for every point in the range image.

Definition at line 428 of file narf.cpp.

void pcl::Narf::extractForInterestPoints	(	const RangeImage &	range_image,
		const PointCloud< InterestPoint > &	interest_points,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list
	)		[static]

Get a list of features from the given interest points.

!! nizar 20110408 : for OpenMP sake on MSVC this must be kept signed

Definition at line 376 of file narf.cpp.

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		const Eigen::Affine3f &	pose,
		int	descriptor_size,
		float	support_size,
		int	surface_patch_world_size = NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE
	)

Method to extract a NARF feature from a certain 3D point using a range image. pose determines the coordinate system of the feature, whereas it transforms a point from the world into the feature system. This means the interest point at which the feature is extracted will be the inverse application of pose onto (0,0,0). descriptor_size_ determines the size of the descriptor, support_size determines the support size of the feature, meaning the size in the world it covers

Definition at line 205 of file narf.cpp.

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		float	x,
		float	y,
		int	descriptor_size,
		float	support_size
	)

Same as above, but determines the transformation from the surface in the range image.

Definition at line 227 of file narf.cpp.

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		const InterestPoint &	interest_point,
		int	descriptor_size,
		float	support_size
	)

Same as above.

Definition at line 239 of file narf.cpp.

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		const Eigen::Vector3f &	interest_point,
		int	descriptor_size,
		float	support_size
	)

Same as above.

Definition at line 246 of file narf.cpp.

void pcl::Narf::extractFromRangeImageAndAddToList	(	const RangeImage &	range_image,
		const Eigen::Vector3f &	interest_point,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list
	)		[static]

Add features extracted at the given interest point and add them to the list

Definition at line 342 of file narf.cpp.

void pcl::Narf::extractFromRangeImageAndAddToList	(	const RangeImage &	range_image,
		float	image_x,
		float	image_y,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list
	)		[static]

Same as above

Definition at line 364 of file narf.cpp.

bool pcl::Narf::extractFromRangeImageWithBestRotation	(	const RangeImage &	range_image,
		const Eigen::Vector3f &	interest_point,
		int	descriptor_size,
		float	support_size
	)

Same as above, but using the rotational invariant version by choosing the best extracted rotation around the normal. Use extractFromRangeImageAndAddToList if you want to enable the system to return multiple features with different rotations.

Definition at line 255 of file narf.cpp.

void pcl::Narf::freeSurfacePatch

(

)

[inline]

Method to erase the surface patch and free the memory.

Definition at line 224 of file narf.h.

float * pcl::Narf::getBlurredSurfacePatch	(	int	new_pixel_size,
		int	blur_radius
	)		const [protected]

Get the surface patch with a blur on it.

Definition at line 280 of file narf.cpp.

const float* pcl::Narf::getDescriptor

(

)

const [inline]

Getter (const) for the descriptor.

Definition at line 176 of file narf.h.

float* pcl::Narf::getDescriptor

(

)

[inline]

Getter for the descriptor.

Definition at line 179 of file narf.h.

float pcl::Narf::getDescriptorDistance

(

const Narf &

other

)

const [inline]

Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum distance.

Definition at line 45 of file narf.hpp.

const int& pcl::Narf::getDescriptorSize

(

)

const [inline]

Getter (const) for the descriptor length.

Definition at line 182 of file narf.h.

int& pcl::Narf::getDescriptorSize

(

)

[inline]

Getter for the descriptor length.

Definition at line 185 of file narf.h.

static const std::string pcl::Narf::getHeaderKeyword

(

)

[inline, static, protected]

Definition at line 267 of file narf.h.

int pcl::Narf::getNoOfBeamPoints

(

)

const [inline]

How many points on each beam of the gradient star are used to calculate the descriptor?

Definition at line 149 of file narf.h.

const Eigen::Vector3f& pcl::Narf::getPosition

(

)

const [inline]

Getter (const) for the position.

Definition at line 188 of file narf.h.

Eigen::Vector3f& pcl::Narf::getPosition

(

)

[inline]

Getter for the position.

Definition at line 191 of file narf.h.

void pcl::Narf::getRotatedVersions	(	const RangeImage &	range_image,
		const std::vector< float > &	rotations,
		std::vector< Narf * > &	features
	)		const

Definition at line 498 of file narf.cpp.

void pcl::Narf::getRotations	(	std::vector< float > &	rotations,
		std::vector< float > &	strengths
	)		const

Definition at line 443 of file narf.cpp.

const float* pcl::Narf::getSurfacePatch

(

)

const [inline]

Getter (const) for the surface patch.

Definition at line 218 of file narf.h.

float* pcl::Narf::getSurfacePatch

(

)

[inline]

Getter for the surface patch.

Definition at line 221 of file narf.h.

const int& pcl::Narf::getSurfacePatchPixelSize

(

)

const [inline]

Getter (const) for the pixel size of the surface patch (only one dimension)

Definition at line 200 of file narf.h.

int& pcl::Narf::getSurfacePatchPixelSize

(

)

[inline]

Getter for the pixel size of the surface patch (only one dimension)

Definition at line 203 of file narf.h.

const float& pcl::Narf::getSurfacePatchRotation

(

)

const [inline]

Getter (const) for the rotation of the surface patch.

Definition at line 212 of file narf.h.

float& pcl::Narf::getSurfacePatchRotation

(

)

[inline]

Getter for the rotation of the surface patch.

Definition at line 215 of file narf.h.

const float& pcl::Narf::getSurfacePatchWorldSize

(

)

const [inline]

Getter (const) for the world size of the surface patch.

Definition at line 206 of file narf.h.

float& pcl::Narf::getSurfacePatchWorldSize

(

)

[inline]

Getter for the world size of the surface patch.

Definition at line 209 of file narf.h.

const Eigen::Affine3f& pcl::Narf::getTransformation

(

)

const [inline]

Getter (const) for the 6DoF pose.

Definition at line 194 of file narf.h.

Eigen::Affine3f& pcl::Narf::getTransformation

(

)

[inline]

Getter for the 6DoF pose.

Definition at line 197 of file narf.h.

void pcl::Narf::loadBinary

(

const std::string &

filename

)

Read from file

Definition at line 598 of file narf.cpp.

void pcl::Narf::loadBinary

(

std::istream &

file

)

Read from input stream

Definition at line 572 of file narf.cpp.

int pcl::Narf::loadHeader

(

std::istream &

file

)

const [protected]

Read header from input stream

Definition at line 551 of file narf.cpp.

const Narf & pcl::Narf::operator=

(

const Narf &

other

)

Assignment operator.

Definition at line 84 of file narf.cpp.

void pcl::Narf::reset

(

)

[protected]

Reset al members to default values and free allocated memory.

Definition at line 92 of file narf.cpp.

void pcl::Narf::saveBinary

(

const std::string &

filename

)

const

Write to file

Definition at line 541 of file narf.cpp.

void pcl::Narf::saveBinary

(

std::ostream &

file

)

const

Write to output stream

Definition at line 525 of file narf.cpp.

void pcl::Narf::saveHeader

(

std::ostream &

file

)

const [protected]

Write header to output stream

Definition at line 518 of file narf.cpp.

void pcl::Narf::setDescriptor

(

float *

descriptor

)

[inline]

Setter for the descriptor.

Definition at line 229 of file narf.h.

void pcl::Narf::setSurfacePatch

(

float *

surface_patch

)

[inline]

Setter for the surface patch.

Definition at line 232 of file narf.h.

---

Member Data Documentation

float* pcl::Narf::descriptor_ [protected]

Definition at line 279 of file narf.h.

int pcl::Narf::descriptor_size_ [protected]

Definition at line 280 of file narf.h.

int pcl::Narf::max_no_of_threads = 1 [static]

The maximum number of openmp threads that can be used in this class

Definition at line 80 of file narf.h.

Eigen::Vector3f pcl::Narf::position_ [protected]

Definition at line 273 of file narf.h.

float* pcl::Narf::surface_patch_ [protected]

Definition at line 275 of file narf.h.

int pcl::Narf::surface_patch_pixel_size_ [protected]

Definition at line 276 of file narf.h.

float pcl::Narf::surface_patch_rotation_ [protected]

Definition at line 278 of file narf.h.

float pcl::Narf::surface_patch_world_size_ [protected]

Definition at line 277 of file narf.h.

Eigen::Affine3f pcl::Narf::transformation_ [protected]

Definition at line 274 of file narf.h.

const int pcl::Narf::VERSION = 1 [static, protected]

Definition at line 270 of file narf.h.

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

• narf.h
• narf.hpp
• narf.cpp