Computes NARF feature descriptors for points in a range image More...

#include <pcl/features/narf_descriptor.h>

Inheritance diagram for pcl::NarfDescriptor:

Collaboration diagram for pcl::NarfDescriptor:

Classes
struct	Parameters
Public Types
typedef Feature < PointWithRange, Narf36 >	BaseClass
typedef boost::shared_ptr < Feature< PointWithRange, Narf36 > >	Ptr
typedef boost::shared_ptr < const Feature < PointWithRange, Narf36 > >	ConstPtr
typedef pcl::search::Search < PointWithRange >	KdTree
typedef pcl::search::Search < PointWithRange >::Ptr	KdTreePtr
typedef pcl::PointCloud < PointWithRange >	PointCloudIn
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef pcl::PointCloud< Narf36 >	PointCloudOut
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)>	SearchMethod
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)>	SearchMethodSurface
typedef pcl::PointCloud < PointWithRange >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	NarfDescriptor (const RangeImage range_image=NULL, const std::vector< int > indices=NULL)
	Constructor.
	~NarfDescriptor ()
	Destructor.
void	setRangeImage (const RangeImage range_image, const std::vector< int > indices=NULL)
	Set input data.
void	compute (PointCloudOut &output)
	Overwrite the compute function of the base class.
Parameters &	getParameters ()
	Get a reference to the parameters struct.
void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used.
double	getSearchParameter () const
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors.
void	computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output)
	Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointWithRange &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

Computes NARF feature descriptors for points in a range image

Author:: Bastian Steder

Definition at line 53 of file narf_descriptor.h.

Member Typedef Documentation

typedef Feature<PointWithRange,Narf36> pcl::NarfDescriptor::BaseClass

Reimplemented from pcl::Feature< PointWithRange, Narf36 >.

Definition at line 57 of file narf_descriptor.h.

typedef boost::shared_ptr< const Feature<PointWithRange , Narf36 > > pcl::Feature< PointWithRange , Narf36 >::ConstPtr [inherited]

Definition at line 113 of file feature.h.

typedef pcl::search::Search<PointWithRange > pcl::Feature< PointWithRange , Narf36 >::KdTree [inherited]

Definition at line 115 of file feature.h.

typedef pcl::search::Search<PointWithRange >::Ptr pcl::Feature< PointWithRange , Narf36 >::KdTreePtr [inherited]

Definition at line 116 of file feature.h.

typedef pcl::PointCloud<PointWithRange > pcl::PCLBase< PointWithRange >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointWithRange >::PointCloudConstPtr [inherited]

Definition at line 76 of file pcl_base.h.

typedef pcl::PointCloud<PointWithRange > pcl::Feature< PointWithRange , Narf36 >::PointCloudIn [inherited]

Definition at line 118 of file feature.h.

typedef PointCloudIn::ConstPtr pcl::Feature< PointWithRange , Narf36 >::PointCloudInConstPtr [inherited]

Definition at line 120 of file feature.h.

typedef PointCloudIn::Ptr pcl::Feature< PointWithRange , Narf36 >::PointCloudInPtr [inherited]

Definition at line 119 of file feature.h.

typedef pcl::PointCloud<Narf36 > pcl::Feature< PointWithRange , Narf36 >::PointCloudOut [inherited]

Definition at line 122 of file feature.h.

typedef PointCloud::Ptr pcl::PCLBase< PointWithRange >::PointCloudPtr [inherited]

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointWithRange >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointWithRange >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

typedef boost::shared_ptr< Feature<PointWithRange , Narf36 > > pcl::Feature< PointWithRange , Narf36 >::Ptr [inherited]

Definition at line 112 of file feature.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointWithRange , Narf36 >::SearchMethod [inherited]

Definition at line 124 of file feature.h.

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointWithRange , Narf36 >::SearchMethodSurface [inherited]

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

pcl::NarfDescriptor::NarfDescriptor	(	const RangeImage *	range_image = `NULL`,
		const std::vector< int > *	indices = `NULL`
	)

Constructor.

pcl::NarfDescriptor::~NarfDescriptor ( )

Destructor.

Member Function Documentation

void pcl::NarfDescriptor::compute ( PointCloudOut & output )

Overwrite the compute function of the base class.

Reimplemented from pcl::Feature< PointWithRange, Narf36 >.

void pcl::Feature< PointWithRange , Narf36 >::computeEigen ( pcl::PointCloud< Eigen::MatrixXf > & output ) [inherited]

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

[out] output the resultant point cloud model dataset containing the estimated features

IndicesPtr const pcl::PCLBase< PointWithRange >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointWithRange >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

int pcl::Feature< PointWithRange , Narf36 >::getKSearch ( ) const [inline, inherited]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 186 of file feature.h.

Parameters& pcl::NarfDescriptor::getParameters ( ) [inline]

Get a reference to the parameters struct.

Definition at line 85 of file narf_descriptor.h.

double pcl::Feature< PointWithRange , Narf36 >::getRadiusSearch ( ) const [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

KdTreePtr pcl::Feature< PointWithRange , Narf36 >::getSearchMethod ( ) const [inline, inherited]

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

double pcl::Feature< PointWithRange , Narf36 >::getSearchParameter ( ) const [inline, inherited]

Get the internal search parameter.

Definition at line 173 of file feature.h.

PointCloudInConstPtr pcl::Feature< PointWithRange , Narf36 >::getSearchSurface ( ) const [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

const PointWithRange & pcl::PCLBase< PointWithRange >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointWithRange >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointWithRange >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

void pcl::Feature< PointWithRange , Narf36 >::setKSearch ( int k ) [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:

[in] k the number of k-nearest neighbors

Definition at line 182 of file feature.h.

void pcl::Feature< PointWithRange , Narf36 >::setRadiusSearch ( double radius ) [inline, inherited]

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters:

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 196 of file feature.h.

void pcl::NarfDescriptor::setRangeImage	(	const RangeImage *	range_image,
		const std::vector< int > *	indices = `NULL`
	)

Set input data.

void pcl::Feature< PointWithRange , Narf36 >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide a pointer to the search object.

Parameters:

[in] tree a pointer to the spatial search object.

Definition at line 162 of file feature.h.

void pcl::Feature< PointWithRange , Narf36 >::setSearchSurface ( const PointCloudInConstPtr & cloud ) [inline, inherited]

Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.

This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.

Parameters:

[in] cloud a pointer to a PointCloud message

Definition at line 144 of file feature.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/features/include/pcl/features/narf_descriptor.h

Classes

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation