Point Cloud Library (PCL)  1.3.1
Classes | Public Types | Public Member Functions
pcl::NarfDescriptor Class Reference

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

#include <pcl/features/narf_descriptor.h>

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List of all members.

Classes

struct  Parameters

Public Types

typedef Feature
< PointWithRange, Narf36
BaseClass
typedef boost::shared_ptr
< Feature< PointInT, PointOutT > > 
Ptr
typedef boost::shared_ptr
< const Feature< PointInT,
PointOutT > > 
ConstPtr
typedef pcl::search::Search
< PointInT > 
KdTree
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
typedef pcl::PointCloud< PointInT > PointCloudIn
typedef PointCloudIn::Ptr PointCloudInPtr
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
typedef pcl::PointCloud
< PointOutT > 
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

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.
ParametersgetParameters ()
 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 ()
 Get a pointer to the surface point cloud dataset.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used.
double getSearchParameter ()
 Get the internal search parameter.
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation.
int getKSearch ()
 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 ()
 Get the sphere radius used for determining the neighbors.
int searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
int searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Detailed Description

Computes NARF feature descriptors for points in a range image

Author:
Bastian Steder

Member Typedef Documentation

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

Definition at line 54 of file narf_descriptor.h.

typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature::ConstPtr [inherited]

Definition at line 106 of file feature.h.

typedef pcl::search::Search<PointInT> pcl::Feature::KdTree [inherited]

Definition at line 108 of file feature.h.

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature::KdTreePtr [inherited]

Definition at line 109 of file feature.h.

typedef pcl::PointCloud<PointInT> pcl::Feature::PointCloudIn [inherited]

Definition at line 111 of file feature.h.

Definition at line 113 of file feature.h.

Definition at line 112 of file feature.h.

typedef pcl::PointCloud<PointOutT> pcl::Feature::PointCloudOut [inherited]

Definition at line 115 of file feature.h.

typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature::Ptr [inherited]

Definition at line 105 of file feature.h.

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

Definition at line 117 of file feature.h.

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

Definition at line 118 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 >.

int pcl::Feature::getKSearch ( ) [inline, inherited]

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

Definition at line 166 of file feature.h.

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

Get a reference to the parameters struct.

Definition at line 82 of file narf_descriptor.h.

double pcl::Feature::getRadiusSearch ( ) [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 177 of file feature.h.

KdTreePtr pcl::Feature::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 152 of file feature.h.

double pcl::Feature::getSearchParameter ( ) [inline, inherited]

Get the internal search parameter.

Definition at line 156 of file feature.h.

PointCloudInConstPtr pcl::Feature::getSearchSurface ( ) [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 142 of file feature.h.

int pcl::Feature::searchForNeighbors ( size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
indexthe index of the query point
parameterthe search parameter (either k or radius)
indicesthe resultant vector of indices representing the k-nearest neighbors
distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 196 of file feature.h.

int pcl::Feature::searchForNeighbors ( const PointCloudIn cloud,
size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
cloudthe query point cloud
indexthe index of the query point in cloud
parameterthe search parameter (either k or radius)
indicesthe resultant vector of indices representing the k-nearest neighbors
distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 215 of file feature.h.

void pcl::Feature::setKSearch ( int  k) [inline, inherited]

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

Parameters:
kthe number of k-nearest neighbors

Definition at line 162 of file feature.h.

void pcl::Feature::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:
radiusthe sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 173 of file feature.h.

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

Set input data.

void pcl::Feature::setSearchMethod ( const KdTreePtr tree) [inline, inherited]

Provide a pointer to the search object.

Parameters:
treea pointer to the spatial search object.

Definition at line 148 of file feature.h.

void pcl::Feature::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:
clouda pointer to a PointCloud message

Definition at line 133 of file feature.h.


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