Point Cloud Library (PCL) 1.13.0
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narf.h
1/*
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38
39#pragma once
40
41#include <pcl/memory.h>
42#include <pcl/pcl_macros.h>
43#include <pcl/point_cloud.h>
44#include <pcl/point_representation.h>
45
46#include <algorithm>
47
48namespace pcl
49{
50 // Forward declarations
51 class RangeImage;
52 struct InterestPoint;
53
54#define NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE 10
55
56 /**
57 * \brief NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data.
58 * Please refer to pcl/features/narf_descriptor.h if you want the class derived from pcl Feature.
59 * See B. Steder, R. B. Rusu, K. Konolige, and W. Burgard
60 * Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries
61 * In Proc. of the IEEE Int. Conf. on Robotics &Automation (ICRA). 2011.
62 * \author Bastian Steder
63 * \ingroup features
64 */
65 class PCL_EXPORTS Narf
66 {
67 public:
68 // =====CONSTRUCTOR & DESTRUCTOR=====
69 //! Constructor
71 //! Copy Constructor
72 Narf(const Narf& other);
73 //! Destructor
75
76 // =====Operators=====
77 //! Assignment operator
78 const Narf& operator=(const Narf& other);
79
80 // =====STATIC=====
81 /** The maximum number of openmp threads that can be used in this class */
83
84 /** Add features extracted at the given interest point and add them to the list */
85 static void
86 extractFromRangeImageAndAddToList (const RangeImage& range_image, const Eigen::Vector3f& interest_point, int descriptor_size,
87 float support_size, bool rotation_invariant, std::vector<Narf*>& feature_list);
88 /** Same as above */
89 static void
90 extractFromRangeImageAndAddToList (const RangeImage& range_image, float image_x, float image_y, int descriptor_size,
91 float support_size, bool rotation_invariant, std::vector<Narf*>& feature_list);
92 /** Get a list of features from the given interest points. */
93 static void
94 extractForInterestPoints (const RangeImage& range_image, const PointCloud<InterestPoint>& interest_points,
95 int descriptor_size, float support_size, bool rotation_invariant, std::vector<Narf*>& feature_list);
96 /** Extract an NARF for every point in the range image. */
97 static void
98 extractForEveryRangeImagePointAndAddToList (const RangeImage& range_image, int descriptor_size, float support_size,
99 bool rotation_invariant, std::vector<Narf*>& feature_list);
100
101 // =====PUBLIC METHODS=====
102 /** Method to extract a NARF feature from a certain 3D point using a range image.
103 * pose determines the coordinate system of the feature, whereas it transforms a point from the world into the feature system.
104 * This means the interest point at which the feature is extracted will be the inverse application of pose onto (0,0,0).
105 * descriptor_size_ determines the size of the descriptor,
106 * support_size determines the support size of the feature, meaning the size in the world it covers */
107 bool
108 extractFromRangeImage (const RangeImage& range_image, const Eigen::Affine3f& pose, int descriptor_size, float support_size,
109 int surface_patch_world_size=NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE);
110
111 //! Same as above, but determines the transformation from the surface in the range image
112 bool
113 extractFromRangeImage (const RangeImage& range_image, float x, float y, int descriptor_size, float support_size);
114
115 //! Same as above
116 bool
117 extractFromRangeImage (const RangeImage& range_image, const InterestPoint& interest_point, int descriptor_size, float support_size);
118
119 //! Same as above
120 bool
121 extractFromRangeImage (const RangeImage& range_image, const Eigen::Vector3f& interest_point, int descriptor_size, float support_size);
122
123 /** Same as above, but using the rotational invariant version by choosing the best extracted rotation around the normal.
124 * Use extractFromRangeImageAndAddToList if you want to enable the system to return multiple features with different rotations. */
125 bool
126 extractFromRangeImageWithBestRotation (const RangeImage& range_image, const Eigen::Vector3f& interest_point,
127 int descriptor_size, float support_size);
128
129 /* Get the dominant rotations of the current descriptor
130 * \param rotations the returned rotations
131 * \param strength values describing how pronounced the corresponding rotations are
132 */
133 void
134 getRotations (std::vector<float>& rotations, std::vector<float>& strengths) const;
135
136 /* Get the feature with a different rotation around the normal
137 * You are responsible for deleting the new features!
138 * \param range_image the source from which the feature is extracted
139 * \param rotations list of angles (in radians)
140 * \param rvps returned features
141 */
142 void
143 getRotatedVersions (const RangeImage& range_image, const std::vector<float>& rotations, std::vector<Narf*>& features) const;
144
145 //! Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum distance
146 inline float
147 getDescriptorDistance (const Narf& other) const;
148
149 //! How many points on each beam of the gradient star are used to calculate the descriptor?
150 inline int
151 getNoOfBeamPoints () const { return (static_cast<int> (pcl_lrint (std::ceil (0.5f * float (surface_patch_pixel_size_))))); }
152
153 //! Copy the descriptor and pose to the point struct Narf36
154 inline void
155 copyToNarf36 (Narf36& narf36) const;
156
157 /** Write to file */
158 void
159 saveBinary (const std::string& filename) const;
160 /** Write to output stream */
161 void
162 saveBinary (std::ostream& file) const;
163
164 /** Read from file */
165 void
166 loadBinary (const std::string& filename);
167 /** Read from input stream */
168 void
169 loadBinary (std::istream& file);
170
171 //! Create the descriptor from the already set other members
172 bool
173 extractDescriptor (int descriptor_size);
174
175 // =====GETTERS=====
176 //! Getter (const) for the descriptor
177 inline const float*
178 getDescriptor () const { return descriptor_;}
179 //! Getter for the descriptor
180 inline float*
181 getDescriptor () { return descriptor_;}
182 //! Getter (const) for the descriptor length
183 inline const int&
184 getDescriptorSize () const { return descriptor_size_;}
185 //! Getter for the descriptor length
186 inline int&
187 getDescriptorSize () { return descriptor_size_;}
188 //! Getter (const) for the position
189 inline const Eigen::Vector3f&
190 getPosition () const { return position_;}
191 //! Getter for the position
192 inline Eigen::Vector3f&
193 getPosition () { return position_;}
194 //! Getter (const) for the 6DoF pose
195 inline const Eigen::Affine3f&
196 getTransformation () const { return transformation_;}
197 //! Getter for the 6DoF pose
198 inline Eigen::Affine3f&
199 getTransformation () { return transformation_;}
200 //! Getter (const) for the pixel size of the surface patch (only one dimension)
201 inline const int&
202 getSurfacePatchPixelSize () const { return surface_patch_pixel_size_;}
203 //! Getter for the pixel size of the surface patch (only one dimension)
204 inline int&
205 getSurfacePatchPixelSize () { return surface_patch_pixel_size_;}
206 //! Getter (const) for the world size of the surface patch
207 inline const float&
208 getSurfacePatchWorldSize () const { return surface_patch_world_size_;}
209 //! Getter for the world size of the surface patch
210 inline float&
211 getSurfacePatchWorldSize () { return surface_patch_world_size_;}
212 //! Getter (const) for the rotation of the surface patch
213 inline const float&
214 getSurfacePatchRotation () const { return surface_patch_rotation_;}
215 //! Getter for the rotation of the surface patch
216 inline float&
217 getSurfacePatchRotation () { return surface_patch_rotation_;}
218 //! Getter (const) for the surface patch
219 inline const float*
220 getSurfacePatch () const { return surface_patch_;}
221 //! Getter for the surface patch
222 inline float*
223 getSurfacePatch () { return surface_patch_;}
224 //! Method to erase the surface patch and free the memory
225 inline void
226 freeSurfacePatch () { delete[] surface_patch_; surface_patch_=nullptr; surface_patch_pixel_size_=0; }
227
228 // =====SETTERS=====
229 //! Setter for the descriptor
230 inline void
231 setDescriptor (float* descriptor) { descriptor_ = descriptor;}
232 //! Setter for the surface patch
233 inline void
234 setSurfacePatch (float* surface_patch) { surface_patch_ = surface_patch;}
235
236 // =====PUBLIC MEMBER VARIABLES=====
237
238 // =====PUBLIC STRUCTS=====
240 {
241 using PointT = Narf *;
242 FeaturePointRepresentation(int nr_dimensions) { this->nr_dimensions_ = nr_dimensions; }
243 /** \brief Empty destructor */
244 ~FeaturePointRepresentation () override = default;
245 void copyToFloatArray (const PointT& p, float* out) const override {
246 auto descriptor = p->getDescriptor();
247 std::copy(descriptor, descriptor + this->nr_dimensions_, out);
248 }
249 };
250
251 protected:
252 // =====PROTECTED METHODS=====
253 //! Reset al members to default values and free allocated memory
254 void
256 //! Create a deep copy of other
257 void
258 deepCopy (const Narf& other);
259 //! Get the surface patch with a blur on it
260 float*
261 getBlurredSurfacePatch (int new_pixel_size, int blur_radius) const;
262
263 /** Write header to output stream */
264 void
265 saveHeader (std::ostream& file) const;
266 /** Read header from input stream */
267 int
268 loadHeader (std::istream& file) const;
269
270 // =====PROTECTED STATIC METHODS=====
271 static const std::string
272 getHeaderKeyword () { return "NARF"; }
273
274 // =====PROTECTED STATIC VARIABLES=====
275 const static int VERSION = 1;
276
277 // =====PROTECTED MEMBER VARIABLES=====
278 Eigen::Vector3f position_;
279 Eigen::Affine3f transformation_;
286
287 // =====STATIC PROTECTED=====
288
289 public:
291 };
292#undef NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE
293
294} // end namespace pcl
295
296#include <pcl/features/impl/narf.hpp>
NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data.
Definition narf.h:66
int descriptor_size_
Definition narf.h:285
float * surface_patch_
Definition narf.h:280
Eigen::Vector3f & getPosition()
Getter for the position.
Definition narf.h:193
static int max_no_of_threads
The maximum number of openmp threads that can be used in this class.
Definition narf.h:82
const Eigen::Vector3f & getPosition() const
Getter (const) for the position.
Definition narf.h:190
bool extractFromRangeImage(const RangeImage &range_image, const InterestPoint &interest_point, int descriptor_size, float support_size)
Same as above.
void setSurfacePatch(float *surface_patch)
Setter for the surface patch.
Definition narf.h:234
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.
const int & getDescriptorSize() const
Getter (const) for the descriptor length.
Definition narf.h:184
Narf()
Constructor.
float * getDescriptor()
Getter for the descriptor.
Definition narf.h:181
const Narf & operator=(const Narf &other)
Assignment operator.
int & getDescriptorSize()
Getter for the descriptor length.
Definition narf.h:187
Narf(const Narf &other)
Copy Constructor.
const Eigen::Affine3f & getTransformation() const
Getter (const) for the 6DoF pose.
Definition narf.h:196
void freeSurfacePatch()
Method to erase the surface patch and free the memory.
Definition narf.h:226
int loadHeader(std::istream &file) const
Read header from input stream.
void saveBinary(std::ostream &file) const
Write to output stream.
const float & getSurfacePatchWorldSize() const
Getter (const) for the world size of the surface patch.
Definition narf.h:208
static const std::string getHeaderKeyword()
Definition narf.h:272
void getRotatedVersions(const RangeImage &range_image, const std::vector< float > &rotations, std::vector< Narf * > &features) const
const int & getSurfacePatchPixelSize() const
Getter (const) for the pixel size of the surface patch (only one dimension)
Definition narf.h:202
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.
float surface_patch_rotation_
Definition narf.h:283
const float & getSurfacePatchRotation() const
Getter (const) for the rotation of the surface patch.
Definition narf.h:214
int getNoOfBeamPoints() const
How many points on each beam of the gradient star are used to calculate the descriptor?
Definition narf.h:151
Eigen::Affine3f & getTransformation()
Getter for the 6DoF pose.
Definition narf.h:199
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.
float surface_patch_world_size_
Definition narf.h:282
void saveHeader(std::ostream &file) const
Write header to output stream.
void loadBinary(const std::string &filename)
Read from file.
void saveBinary(const std::string &filename) const
Write to file.
int & getSurfacePatchPixelSize()
Getter for the pixel size of the surface patch (only one dimension)
Definition narf.h:205
Eigen::Affine3f transformation_
Definition narf.h:279
float * descriptor_
Definition narf.h:284
float * getBlurredSurfacePatch(int new_pixel_size, int blur_radius) const
Get the surface patch with a blur on it.
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 aro...
float * getSurfacePatch()
Getter for the surface patch.
Definition narf.h:223
~Narf()
Destructor.
void reset()
Reset al members to default values and free allocated memory.
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.
bool extractDescriptor(int descriptor_size)
Create the descriptor from the already set other members.
const float * getDescriptor() const
Getter (const) for the descriptor.
Definition narf.h:178
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.
const float * getSurfacePatch() const
Getter (const) for the surface patch.
Definition narf.h:220
float & getSurfacePatchRotation()
Getter for the rotation of the surface patch.
Definition narf.h:217
void loadBinary(std::istream &file)
Read from input stream.
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.
bool extractFromRangeImage(const RangeImage &range_image, const Eigen::Vector3f &interest_point, int descriptor_size, float support_size)
Same as above.
void getRotations(std::vector< float > &rotations, std::vector< float > &strengths) const
float & getSurfacePatchWorldSize()
Getter for the world size of the surface patch.
Definition narf.h:211
void deepCopy(const Narf &other)
Create a deep copy of other.
Eigen::Vector3f position_
Definition narf.h:278
void setDescriptor(float *descriptor)
Setter for the descriptor.
Definition narf.h:231
int surface_patch_pixel_size_
Definition narf.h:281
PointCloud represents the base class in PCL for storing collections of 3D points.
PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition range_image.h:55
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
#define pcl_lrint(x)
Definition pcl_macros.h:253
A point structure representing an interest point with Euclidean xyz coordinates, and an interest valu...
A point structure representing the Narf descriptor.
~FeaturePointRepresentation() override=default
Empty destructor.
void copyToFloatArray(const PointT &p, float *out) const override
Definition narf.h:245
FeaturePointRepresentation(int nr_dimensions)
Definition narf.h:242