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| Narf () |
| Constructor.
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| Narf (const Narf &other) |
| Copy Constructor.
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| ~Narf () |
| Destructor.
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const Narf & | operator= (const Narf &other) |
| Assignment operator.
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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) |
| Method to extract a NARF feature from a certain 3D point using a range image.
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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.
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bool | extractFromRangeImage (const RangeImage &range_image, const InterestPoint &interest_point, int descriptor_size, float support_size) |
| Same as above.
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bool | extractFromRangeImage (const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size) |
| Same as above.
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bool | 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.
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void | getRotations (std::vector< float > &rotations, std::vector< float > &strengths) const |
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void | getRotatedVersions (const RangeImage &range_image, const std::vector< float > &rotations, std::vector< Narf * > &features) const |
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float | getDescriptorDistance (const Narf &other) const |
| Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum distance.
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int | getNoOfBeamPoints () const |
| How many points on each beam of the gradient star are used to calculate the descriptor?
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void | copyToNarf36 (Narf36 &narf36) const |
| Copy the descriptor and pose to the point struct Narf36.
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void | saveBinary (const std::string &filename) const |
| Write to file.
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void | saveBinary (std::ostream &file) const |
| Write to output stream.
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void | loadBinary (const std::string &filename) |
| Read from file.
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void | loadBinary (std::istream &file) |
| Read from input stream.
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bool | extractDescriptor (int descriptor_size) |
| Create the descriptor from the already set other members.
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const float * | getDescriptor () const |
| Getter (const) for the descriptor.
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float * | getDescriptor () |
| Getter for the descriptor.
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const int & | getDescriptorSize () const |
| Getter (const) for the descriptor length.
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int & | getDescriptorSize () |
| Getter for the descriptor length.
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const Eigen::Vector3f & | getPosition () const |
| Getter (const) for the position.
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Eigen::Vector3f & | getPosition () |
| Getter for the position.
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const Eigen::Affine3f & | getTransformation () const |
| Getter (const) for the 6DoF pose.
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Eigen::Affine3f & | getTransformation () |
| Getter for the 6DoF pose.
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const int & | getSurfacePatchPixelSize () const |
| Getter (const) for the pixel size of the surface patch (only one dimension)
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int & | getSurfacePatchPixelSize () |
| Getter for the pixel size of the surface patch (only one dimension)
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const float & | getSurfacePatchWorldSize () const |
| Getter (const) for the world size of the surface patch.
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float & | getSurfacePatchWorldSize () |
| Getter for the world size of the surface patch.
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const float & | getSurfacePatchRotation () const |
| Getter (const) for the rotation of the surface patch.
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float & | getSurfacePatchRotation () |
| Getter for the rotation of the surface patch.
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const float * | getSurfacePatch () const |
| Getter (const) for the surface patch.
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float * | getSurfacePatch () |
| Getter for the surface patch.
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void | freeSurfacePatch () |
| Method to erase the surface patch and free the memory.
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void | setDescriptor (float *descriptor) |
| Setter for the descriptor.
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void | setSurfacePatch (float *surface_patch) |
| Setter for the surface patch.
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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) |
| Add features extracted at the given interest point and add them to the list.
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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) |
| Same as above.
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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) |
| Get a list of features from the given interest points.
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static void | extractForEveryRangeImagePointAndAddToList (const RangeImage &range_image, int descriptor_size, float support_size, bool rotation_invariant, std::vector< Narf * > &feature_list) |
| Extract an NARF for every point in the range image.
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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.
bool pcl::Narf::extractFromRangeImage |
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const RangeImage & | range_image, |
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const Eigen::Affine3f & | pose, |
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int | descriptor_size, |
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float | support_size, |
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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