NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data. More...

#include <pcl/features/narf.h>

Classes
struct	FeaturePointRepresentation

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

Static Public Member Functions
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.
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.
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.
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.

Static Public Attributes
static int	max_no_of_threads
	The maximum number of openmp threads that can be used in this class.

Protected Member Functions
void	reset ()
	Reset al members to default values and free allocated memory.
void	deepCopy (const Narf &other)
	Create a deep copy of other.
float *	getBlurredSurfacePatch (int new_pixel_size, int blur_radius) const
	Get the surface patch with a blur on it.
void	saveHeader (std::ostream &file) const
	Write header to output stream.
int	loadHeader (std::istream &file) const
	Read header from input stream.

Static Protected Member Functions
static const std::string	getHeaderKeyword ()

Protected Attributes
Eigen::Vector3f	position_
Eigen::Affine3f	transformation_
float *	surface_patch_ {nullptr}
int	surface_patch_pixel_size_ {0}
float	surface_patch_world_size_ {0.0f}
float	surface_patch_rotation_ {0.0f}
float *	descriptor_ {nullptr}
int	descriptor_size_ {0}

Static Protected Attributes
static const int	VERSION = 1

Detailed Description

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 65 of file narf.h.

Constructor & Destructor Documentation

◆ Narf() [1/2]

pcl::Narf::Narf ( )

Constructor.

Referenced by deepCopy(), getDescriptorDistance(), getRotatedVersions(), Narf(), and operator=().

◆ Narf() [2/2]

pcl::Narf::Narf ( const Narf & other )

Copy Constructor.

References Narf().

◆ ~Narf()

pcl::Narf::~Narf ( )

Destructor.

Member Function Documentation

◆ copyToNarf36()

void pcl::Narf::copyToNarf36 ( Narf36 & narf36 ) const

inline

Copy the descriptor and pose to the point struct Narf36.

Definition at line 54 of file narf.hpp.

References pcl::Narf36::descriptor, descriptor_, descriptor_size_, pcl::getTranslationAndEulerAngles(), pcl::Narf36::pitch, pcl::Narf36::roll, transformation_, pcl::Narf36::x, pcl::Narf36::y, pcl::Narf36::yaw, and pcl::Narf36::z.

◆ deepCopy()

void pcl::Narf::deepCopy ( const Narf & other )

protected

Create a deep copy of other.

References Narf().

◆ extractDescriptor()

bool pcl::Narf::extractDescriptor ( int descriptor_size )

Create the descriptor from the already set other members.

◆ extractForEveryRangeImagePointAndAddToList()

void pcl::Narf::extractForEveryRangeImagePointAndAddToList	(	const RangeImage &	range_image,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list )

static

Extract an NARF for every point in the range image.

◆ extractForInterestPoints()

void pcl::Narf::extractForInterestPoints	(	const RangeImage &	range_image,
		const PointCloud< InterestPoint > &	interest_points,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list )

static

Get a list of features from the given interest points.

◆ extractFromRangeImage() [1/4]

bool pcl::Narf::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.

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

◆ extractFromRangeImage() [2/4]

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		const Eigen::Vector3f &	interest_point,
		int	descriptor_size,
		float	support_size )

Same as above.

◆ extractFromRangeImage() [3/4]

bool pcl::Narf::extractFromRangeImage	(	const RangeImage &	range_image,
		const InterestPoint &	interest_point,
		int	descriptor_size,
		float	support_size )

Same as above.

◆ extractFromRangeImage() [4/4]

bool pcl::Narf::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.

◆ extractFromRangeImageAndAddToList() [1/2]

void pcl::Narf::extractFromRangeImageAndAddToList	(	const RangeImage &	range_image,
		const Eigen::Vector3f &	interest_point,
		int	descriptor_size,
		float	support_size,
		bool	rotation_invariant,
		std::vector< Narf * > &	feature_list )

static

Add features extracted at the given interest point and add them to the list.

◆ extractFromRangeImageAndAddToList() [2/2]

void pcl::Narf::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 )

static

Same as above.

◆ extractFromRangeImageWithBestRotation()

bool pcl::Narf::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.

Use extractFromRangeImageAndAddToList if you want to enable the system to return multiple features with different rotations.

◆ freeSurfacePatch()

void pcl::Narf::freeSurfacePatch ( )

inline

Method to erase the surface patch and free the memory.

Definition at line 226 of file narf.h.

References surface_patch_, and surface_patch_pixel_size_.

◆ getBlurredSurfacePatch()

float * pcl::Narf::getBlurredSurfacePatch	(	int	new_pixel_size,
		int	blur_radius ) const

protected

Get the surface patch with a blur on it.

◆ getDescriptor() [1/2]

float * pcl::Narf::getDescriptor ( )

inline

Getter for the descriptor.

Definition at line 181 of file narf.h.

References descriptor_.

◆ getDescriptor() [2/2]

const float * pcl::Narf::getDescriptor ( ) const

inline

Getter (const) for the descriptor.

Definition at line 178 of file narf.h.

References descriptor_.

Referenced by pcl::Narf::FeaturePointRepresentation::copyToFloatArray().

◆ getDescriptorDistance()

float pcl::Narf::getDescriptorDistance ( const Narf & other ) const

inline

Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum distance.

Definition at line 46 of file narf.hpp.

References descriptor_, descriptor_size_, pcl::L1_Norm(), and Narf().

Referenced by getRotatedVersions().

◆ getDescriptorSize() [1/2]

int & pcl::Narf::getDescriptorSize ( )

inline

Getter for the descriptor length.

Definition at line 187 of file narf.h.

References descriptor_size_.

◆ getDescriptorSize() [2/2]

const int & pcl::Narf::getDescriptorSize ( ) const

inline

Getter (const) for the descriptor length.

Definition at line 184 of file narf.h.

References descriptor_size_.

◆ getHeaderKeyword()

const std::string pcl::Narf::getHeaderKeyword ( )

inlinestaticprotected

Definition at line 272 of file narf.h.

◆ getNoOfBeamPoints()

int pcl::Narf::getNoOfBeamPoints ( ) const

inline

How many points on each beam of the gradient star are used to calculate the descriptor?

Definition at line 151 of file narf.h.

References pcl_lrint, and surface_patch_pixel_size_.

◆ getPosition() [1/2]

Eigen::Vector3f & pcl::Narf::getPosition ( )

inline

Getter for the position.

Definition at line 193 of file narf.h.

References position_.

◆ getPosition() [2/2]

const Eigen::Vector3f & pcl::Narf::getPosition ( ) const

inline

Getter (const) for the position.

Definition at line 190 of file narf.h.

References position_.

◆ getRotatedVersions()

void pcl::Narf::getRotatedVersions	(	const RangeImage &	range_image,
		const std::vector< float > &	rotations,
		std::vector< Narf * > &	features ) const

References getDescriptorDistance(), and Narf().

◆ getRotations()

void pcl::Narf::getRotations	(	std::vector< float > &	rotations,
		std::vector< float > &	strengths ) const

◆ getSurfacePatch() [1/2]

float * pcl::Narf::getSurfacePatch ( )

inline

Getter for the surface patch.

Definition at line 223 of file narf.h.

References surface_patch_.

◆ getSurfacePatch() [2/2]

const float * pcl::Narf::getSurfacePatch ( ) const

inline

Getter (const) for the surface patch.

Definition at line 220 of file narf.h.

References surface_patch_.

◆ getSurfacePatchPixelSize() [1/2]

int & pcl::Narf::getSurfacePatchPixelSize ( )

inline

Getter for the pixel size of the surface patch (only one dimension).

Definition at line 205 of file narf.h.

References surface_patch_pixel_size_.

◆ getSurfacePatchPixelSize() [2/2]

const int & pcl::Narf::getSurfacePatchPixelSize ( ) const

inline

Getter (const) for the pixel size of the surface patch (only one dimension).

Definition at line 202 of file narf.h.

References surface_patch_pixel_size_.

◆ getSurfacePatchRotation() [1/2]

float & pcl::Narf::getSurfacePatchRotation ( )

inline

Getter for the rotation of the surface patch.

Definition at line 217 of file narf.h.

References surface_patch_rotation_.

◆ getSurfacePatchRotation() [2/2]

const float & pcl::Narf::getSurfacePatchRotation ( ) const

inline

Getter (const) for the rotation of the surface patch.

Definition at line 214 of file narf.h.

References surface_patch_rotation_.

◆ getSurfacePatchWorldSize() [1/2]

float & pcl::Narf::getSurfacePatchWorldSize ( )

inline

Getter for the world size of the surface patch.

Definition at line 211 of file narf.h.

References surface_patch_world_size_.

◆ getSurfacePatchWorldSize() [2/2]

const float & pcl::Narf::getSurfacePatchWorldSize ( ) const

inline

Getter (const) for the world size of the surface patch.

Definition at line 208 of file narf.h.

References surface_patch_world_size_.

◆ getTransformation() [1/2]

Eigen::Affine3f & pcl::Narf::getTransformation ( )

inline

Getter for the 6DoF pose.

Definition at line 199 of file narf.h.

References transformation_.

◆ getTransformation() [2/2]

const Eigen::Affine3f & pcl::Narf::getTransformation ( ) const

inline

Getter (const) for the 6DoF pose.

Definition at line 196 of file narf.h.

References transformation_.

◆ loadBinary() [1/2]

void pcl::Narf::loadBinary ( const std::string & filename )

Read from file.

◆ loadBinary() [2/2]

void pcl::Narf::loadBinary ( std::istream & file )

Read from input stream.

◆ loadHeader()

int pcl::Narf::loadHeader ( std::istream & file ) const

protected

Read header from input stream.

◆ operator=()

const Narf & pcl::Narf::operator= ( const Narf & other )

Assignment operator.

References Narf().

◆ reset()

void pcl::Narf::reset ( )

protected

Reset al members to default values and free allocated memory.

◆ saveBinary() [1/2]

void pcl::Narf::saveBinary ( const std::string & filename ) const

Write to file.

◆ saveBinary() [2/2]

void pcl::Narf::saveBinary ( std::ostream & file ) const

Write to output stream.

◆ saveHeader()

void pcl::Narf::saveHeader ( std::ostream & file ) const

protected

Write header to output stream.

◆ setDescriptor()

void pcl::Narf::setDescriptor ( float * descriptor )

inline

Setter for the descriptor.

Definition at line 231 of file narf.h.

References descriptor_.

◆ setSurfacePatch()

void pcl::Narf::setSurfacePatch ( float * surface_patch )

inline

Setter for the surface patch.

Definition at line 234 of file narf.h.

References surface_patch_.

Member Data Documentation

◆ descriptor_

float* pcl::Narf::descriptor_ {nullptr}

protected

Definition at line 284 of file narf.h.

Referenced by copyToNarf36(), getDescriptor(), getDescriptor(), getDescriptorDistance(), and setDescriptor().

◆ descriptor_size_

int pcl::Narf::descriptor_size_ {0}

protected

Definition at line 285 of file narf.h.

Referenced by copyToNarf36(), getDescriptorDistance(), getDescriptorSize(), and getDescriptorSize().

◆ max_no_of_threads

int pcl::Narf::max_no_of_threads

static

The maximum number of openmp threads that can be used in this class.

Definition at line 82 of file narf.h.

◆ position_

Eigen::Vector3f pcl::Narf::position_

protected

Definition at line 278 of file narf.h.

Referenced by getPosition(), and getPosition().

◆ surface_patch_

float* pcl::Narf::surface_patch_ {nullptr}

protected

Definition at line 280 of file narf.h.

Referenced by freeSurfacePatch(), getSurfacePatch(), getSurfacePatch(), and setSurfacePatch().

◆ surface_patch_pixel_size_

int pcl::Narf::surface_patch_pixel_size_ {0}

protected

Definition at line 281 of file narf.h.

Referenced by freeSurfacePatch(), getNoOfBeamPoints(), getSurfacePatchPixelSize(), and getSurfacePatchPixelSize().

◆ surface_patch_rotation_

float pcl::Narf::surface_patch_rotation_ {0.0f}

protected

Definition at line 283 of file narf.h.

Referenced by getSurfacePatchRotation(), and getSurfacePatchRotation().

◆ surface_patch_world_size_

float pcl::Narf::surface_patch_world_size_ {0.0f}

protected

Definition at line 282 of file narf.h.

Referenced by getSurfacePatchWorldSize(), and getSurfacePatchWorldSize().

◆ transformation_

Eigen::Affine3f pcl::Narf::transformation_

protected

Definition at line 279 of file narf.h.

Referenced by copyToNarf36(), getTransformation(), and getTransformation().

◆ VERSION

const int pcl::Narf::VERSION = 1

staticprotected

Definition at line 275 of file narf.h.

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

pcl/features/narf.h
pcl/features/impl/narf.hpp

Classes

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Narf() [1/2]

◆ Narf() [2/2]

◆ ~Narf()

Member Function Documentation

◆ copyToNarf36()

◆ deepCopy()

◆ extractDescriptor()

◆ extractForEveryRangeImagePointAndAddToList()

◆ extractForInterestPoints()

◆ extractFromRangeImage() [1/4]

◆ extractFromRangeImage() [2/4]

◆ extractFromRangeImage() [3/4]

◆ extractFromRangeImage() [4/4]

◆ extractFromRangeImageAndAddToList() [1/2]

◆ extractFromRangeImageAndAddToList() [2/2]

◆ extractFromRangeImageWithBestRotation()

◆ freeSurfacePatch()

◆ getBlurredSurfacePatch()

◆ getDescriptor() [1/2]

◆ getDescriptor() [2/2]

◆ getDescriptorDistance()

◆ getDescriptorSize() [1/2]

◆ getDescriptorSize() [2/2]

◆ getHeaderKeyword()

◆ getNoOfBeamPoints()

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ getRotatedVersions()

◆ getRotations()

◆ getSurfacePatch() [1/2]

◆ getSurfacePatch() [2/2]

◆ getSurfacePatchPixelSize() [1/2]

◆ getSurfacePatchPixelSize() [2/2]

◆ getSurfacePatchRotation() [1/2]

◆ getSurfacePatchRotation() [2/2]

◆ getSurfacePatchWorldSize() [1/2]

◆ getSurfacePatchWorldSize() [2/2]

◆ getTransformation() [1/2]

◆ getTransformation() [2/2]

◆ loadBinary() [1/2]

◆ loadBinary() [2/2]

◆ loadHeader()

◆ operator=()

◆ reset()

◆ saveBinary() [1/2]

◆ saveBinary() [2/2]

◆ saveHeader()

◆ setDescriptor()

◆ setSurfacePatch()

Member Data Documentation

◆ descriptor_

◆ descriptor_size_

◆ max_no_of_threads

◆ position_

◆ surface_patch_

◆ surface_patch_pixel_size_

◆ surface_patch_rotation_

◆ surface_patch_world_size_

◆ transformation_

◆ VERSION