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. More...
#include <narf_keypoint.h>
Classes | |
| struct | Parameters |
| Parameters used in this class. More... | |
Public Types | |
| typedef Keypoint < PointWithRange, int > | BaseClass |
| typedef boost::shared_ptr < const NarfKeypoint > | ConstPtr |
| typedef Keypoint < PointWithRange, int > ::PointCloudOut | PointCloudOut |
| typedef boost::shared_ptr < NarfKeypoint > | Ptr |
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) | |
| virtual | ~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 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.
Definition at line 60 of file narf_keypoint.h.
Member Typedef Documentation
| typedef Keypoint<PointWithRange, int> pcl::NarfKeypoint::BaseClass |
Reimplemented from pcl::Keypoint< PointWithRange, int >.
Definition at line 67 of file narf_keypoint.h.
| typedef boost::shared_ptr<const NarfKeypoint> pcl::NarfKeypoint::ConstPtr |
Reimplemented from pcl::Keypoint< PointWithRange, int >.
Definition at line 64 of file narf_keypoint.h.
| typedef Keypoint<PointWithRange, int>::PointCloudOut pcl::NarfKeypoint::PointCloudOut |
Reimplemented from pcl::Keypoint< PointWithRange, int >.
Definition at line 69 of file narf_keypoint.h.
| typedef boost::shared_ptr<NarfKeypoint> pcl::NarfKeypoint::Ptr |
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.
| pcl::NarfKeypoint::~NarfKeypoint | ( | ) | [virtual] |
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 748 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 465 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 964 of file narf_keypoint.cpp.
| void pcl::NarfKeypoint::detectKeypoints | ( | NarfKeypoint::PointCloudOut & | output | ) | [protected, virtual] |
Detect key points.
Definition at line 923 of file narf_keypoint.cpp.
| float* pcl::NarfKeypoint::getInterestImage | ( | ) | [inline] |
Extract interest value per image point
Definition at line 141 of file narf_keypoint.h.
| const ::pcl::PointCloud<InterestPoint>& pcl::NarfKeypoint::getInterestPoints | ( | ) | [inline] |
Extract maxima from an interest image.
Definition at line 145 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 149 of file narf_keypoint.h.
| Parameters& pcl::NarfKeypoint::getParameters | ( | ) | [inline] |
Getter for the parameter struct.
Definition at line 153 of file narf_keypoint.h.
| const RangeImage & pcl::NarfKeypoint::getRangeImage | ( | ) |
Getter for the range image of range_image_border_extractor_.
Definition at line 917 of file narf_keypoint.cpp.
Get the RangeImageBorderExtractor member.
Definition at line 133 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 189 of file narf_keypoint.h.
float* pcl::NarfKeypoint::interest_image_ [protected] |
Definition at line 185 of file narf_keypoint.h.
std::vector<float*> pcl::NarfKeypoint::interest_image_scale_space_ [protected] |
Definition at line 190 of file narf_keypoint.h.
::pcl::PointCloud<InterestPoint>* pcl::NarfKeypoint::interest_points_ [protected] |
Definition at line 186 of file narf_keypoint.h.
std::vector<bool> pcl::NarfKeypoint::is_interest_point_image_ [protected] |
Definition at line 187 of file narf_keypoint.h.
Parameters pcl::NarfKeypoint::parameters_ [protected] |
Definition at line 184 of file narf_keypoint.h.
Definition at line 183 of file narf_keypoint.h.
std::vector<RangeImage*> pcl::NarfKeypoint::range_image_scale_space_ [protected] |
Definition at line 188 of file narf_keypoint.h.
The documentation for this class was generated from the following files: