Public Member Functions | Public Attributes

pcl::NarfKeypoint::Parameters Struct Reference

Parameters used in this class. More...

#include <pcl/keypoints/narf_keypoint.h>

List of all members.

Public Member Functions

 Parameters ()

Public Attributes

float support_size
 This defines the area 'covered' by an interest point (in meters).
int max_no_of_interest_points
 The maximum number of interest points that will be returned.
float min_distance_between_interest_points
 Minimum distance between maximas (this is a factor for support_size, i.e.
float optimal_distance_to_high_surface_change
 The distance we want keep between keypoints and areas of high surface change (this is a factor for support_size, i.e., the distance is optimal_distance_to_high_surface_change*support_size).
float min_interest_value
 The minimum value to consider a point as an interest point.
float min_surface_change_score
 The minimum value of the surface change score to consider a point.
int optimal_range_image_patch_size
 The size (in pixels) of the image patches from which the interest value should be computed.
float distance_for_additional_points
 All points in this distance to a found maximum, that are above min_interest_value are also added as interest points (this is a factor for support_size, i.e.
bool add_points_on_straight_edges
 If this is set to true, there will also be interest points on straight edges, e.g., just indicating an area of high surface change.
bool do_non_maximum_suppression
 If this is set to false there will be much more points (can be used to spread points over the whole scene (combined with a low min_interest_value)).
bool no_of_polynomial_approximations_per_point
 If this is >0, the exact position of the interest point is determined using bivariate polynomial approximations of the interest values of the area.
int max_no_of_threads
 The maximum number of threads this code is allowed to use with OPNEMP.

Detailed Description

Parameters used in this class.

Definition at line 67 of file narf_keypoint.h.


Constructor & Destructor Documentation

pcl::NarfKeypoint::Parameters::Parameters (  )  [inline]

Definition at line 69 of file narf_keypoint.h.


Member Data Documentation

If this is set to true, there will also be interest points on straight edges, e.g., just indicating an area of high surface change.

Definition at line 96 of file narf_keypoint.h.

All points in this distance to a found maximum, that are above min_interest_value are also added as interest points (this is a factor for support_size, i.e.

the distance is distance_for_additional_points*support_size)

Definition at line 92 of file narf_keypoint.h.

If this is set to false there will be much more points (can be used to spread points over the whole scene (combined with a low min_interest_value)).

Definition at line 98 of file narf_keypoint.h.

The maximum number of interest points that will be returned.

Definition at line 77 of file narf_keypoint.h.

The maximum number of threads this code is allowed to use with OPNEMP.

Definition at line 104 of file narf_keypoint.h.

Minimum distance between maximas (this is a factor for support_size, i.e.

the distance is min_distance_between_interest_points*support_size)

Definition at line 78 of file narf_keypoint.h.

The minimum value to consider a point as an interest point.

Definition at line 85 of file narf_keypoint.h.

The minimum value of the surface change score to consider a point.

Definition at line 86 of file narf_keypoint.h.

If this is >0, the exact position of the interest point is determined using bivariate polynomial approximations of the interest values of the area.

Definition at line 101 of file narf_keypoint.h.

The distance we want keep between keypoints and areas of high surface change (this is a factor for support_size, i.e., the distance is optimal_distance_to_high_surface_change*support_size).

Definition at line 81 of file narf_keypoint.h.

The size (in pixels) of the image patches from which the interest value should be computed.

This influences, which range image is selected from the scale space to compute the interest value of a pixel at a certain distance.

Definition at line 87 of file narf_keypoint.h.

This defines the area 'covered' by an interest point (in meters).

Definition at line 76 of file narf_keypoint.h.


The documentation for this struct was generated from the following file: