Point Cloud Library (PCL)
1.3.1
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Computes NARF feature descriptors for points in a range image More...
#include <pcl/features/narf_descriptor.h>
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. | |
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 () |
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. |
Computes NARF feature descriptors for points in a range image
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] |
typedef pcl::search::Search<PointInT> pcl::Feature::KdTree [inherited] |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature::KdTreePtr [inherited] |
typedef pcl::PointCloud<PointInT> pcl::Feature::PointCloudIn [inherited] |
typedef PointCloudIn::ConstPtr pcl::Feature::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature::PointCloudInPtr [inherited] |
typedef pcl::PointCloud<PointOutT> pcl::Feature::PointCloudOut [inherited] |
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature::Ptr [inherited] |
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature::SearchMethodSurface [inherited] |
pcl::NarfDescriptor::NarfDescriptor | ( | const RangeImage * | range_image = NULL , |
const std::vector< int > * | indices = NULL |
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) |
Constructor.
pcl::NarfDescriptor::~NarfDescriptor | ( | ) |
Destructor.
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] |
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] |
KdTreePtr pcl::Feature::getSearchMethod | ( | ) | [inline, inherited] |
double pcl::Feature::getSearchParameter | ( | ) | [inline, inherited] |
PointCloudInConstPtr pcl::Feature::getSearchSurface | ( | ) | [inline, inherited] |
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.
index | the index of the query point |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
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.
cloud | the query point cloud |
index | the index of the query point in cloud |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
void pcl::Feature::setKSearch | ( | int | k | ) | [inline, inherited] |
void pcl::Feature::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
void pcl::NarfDescriptor::setRangeImage | ( | const RangeImage * | range_image, |
const std::vector< int > * | indices = NULL |
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) |
Set input data.
void pcl::Feature::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
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.
cloud | a pointer to a PointCloud message |