.. _NARF:
.. currentmodule:: LaserPy

Normal Aligned Radial Feature
=============================

Generating
----------

First, make a PCL range image: :func:`make_pcl_rangeimage`. Then, make NARF
keypoints: :func:`make_narf_keypoints` (or use your own). You can get a feel 
for image and keypoint parameters by displaying the keypoints over the interest
image, generated with :func:`make_narf_interest_image`.
Finally, generate the features with :func:`make_narf_features`.

.. autofunction:: make_pcl_rangeimage

.. autoclass:: PCL_RangeImage
   :members:

.. autofunction:: make_narf_keypoints

.. autofunction:: make_narf_features

.. autoclass:: PCL_NARF
   :members:

.. autofunction:: points_to_range_image_index

.. autofunction:: range_image_index_to_points

.. autofunction:: make_narf_interest_image


Classifying
-----------

.. autoclass:: NarfKnnAligned
   :members: