Point Cloud Library (PCL)  1.9.1-dev
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pcl::NarfKeypoint::Parameters Struct Reference

Parameters used in this class. More...

#include <pcl/keypoints/narf_keypoint.h>

Public Member Functions

 Parameters ()
 

Public Attributes

float support_size
 This defines the area 'covered' by an interest point (in meters) More...
 
int max_no_of_interest_points
 The maximum number of interest points that will be returned. More...
 
float min_distance_between_interest_points
 Minimum distance between maximas (this is a factor for support_size, i.e. More...
 
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) More...
 
float min_interest_value
 The minimum value to consider a point as an interest point. More...
 
float min_surface_change_score
 The minimum value of the surface change score to consider a point. More...
 
int optimal_range_image_patch_size
 The size (in pixels) of the image patches from which the interest value should be computed. More...
 
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. More...
 
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. More...
 
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)) More...
 
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. More...
 
int max_no_of_threads
 The maximum number of threads this code is allowed to use with OPNEMP. More...
 
bool use_recursive_scale_reduction
 Try to decrease runtime by extracting interest points at lower reolution in areas that contain enough points, i.e., have lower range. More...
 
bool calculate_sparse_interest_image
 Use some heuristics to decide which areas of the interest image can be left out to improve the runtime. More...
 

Detailed Description

Parameters used in this class.

Definition at line 72 of file narf_keypoint.h.

Constructor & Destructor Documentation

pcl::NarfKeypoint::Parameters::Parameters ( )
inline

Definition at line 74 of file narf_keypoint.h.

Member Data Documentation

bool pcl::NarfKeypoint::Parameters::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.

Definition at line 102 of file narf_keypoint.h.

bool pcl::NarfKeypoint::Parameters::calculate_sparse_interest_image

Use some heuristics to decide which areas of the interest image can be left out to improve the runtime.

Definition at line 113 of file narf_keypoint.h.

float pcl::NarfKeypoint::Parameters::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.

the distance is distance_for_additional_points*support_size)

Definition at line 98 of file narf_keypoint.h.

Referenced by pcl::operator<<().

bool pcl::NarfKeypoint::Parameters::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))

Definition at line 104 of file narf_keypoint.h.

int pcl::NarfKeypoint::Parameters::max_no_of_interest_points

The maximum number of interest points that will be returned.

Definition at line 83 of file narf_keypoint.h.

int pcl::NarfKeypoint::Parameters::max_no_of_threads

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

Definition at line 110 of file narf_keypoint.h.

float pcl::NarfKeypoint::Parameters::min_distance_between_interest_points

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 84 of file narf_keypoint.h.

Referenced by pcl::operator<<().

float pcl::NarfKeypoint::Parameters::min_interest_value

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

Definition at line 91 of file narf_keypoint.h.

Referenced by pcl::operator<<().

float pcl::NarfKeypoint::Parameters::min_surface_change_score

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

Definition at line 92 of file narf_keypoint.h.

bool pcl::NarfKeypoint::Parameters::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.

Definition at line 107 of file narf_keypoint.h.

float pcl::NarfKeypoint::Parameters::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)

Definition at line 87 of file narf_keypoint.h.

int pcl::NarfKeypoint::Parameters::optimal_range_image_patch_size

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 93 of file narf_keypoint.h.

float pcl::NarfKeypoint::Parameters::support_size

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

Definition at line 82 of file narf_keypoint.h.

Referenced by pcl::operator<<().

bool pcl::NarfKeypoint::Parameters::use_recursive_scale_reduction

Try to decrease runtime by extracting interest points at lower reolution in areas that contain enough points, i.e., have lower range.

Definition at line 111 of file narf_keypoint.h.


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