pcl::NarfKeypoint::Parameters Struct Reference

Parameters used in this class. More...

#include <narf_keypoint.h>

List of all members.

Public Member Functions
	Parameters ()
Public Attributes
bool	add_points_on_straight_edges
bool	calculate_sparse_interest_image
float	distance_for_additional_points
bool	do_non_maximum_suppression
int	max_no_of_interest_points
	The maximum number of interest points that will be returned.
int	max_no_of_threads
	The maximum number of threads this code is allowed to use with OPNEMP.
float	min_distance_between_interest_points
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.
bool	no_of_polynomial_approximations_per_point
float	optimal_distance_to_high_surface_change
int	optimal_range_image_patch_size
float	support_size
	This defines the area 'covered' by an interest point (in meters)
bool	use_recursive_scale_reduction

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Detailed Description

Parameters used in this class.

Definition at line 67 of file narf_keypoint.h.

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Constructor & Destructor Documentation

pcl::NarfKeypoint::Parameters::Parameters

(

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[inline]

Definition at line 69 of file narf_keypoint.h.

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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 97 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 108 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 93 of file narf_keypoint.h.

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 99 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 78 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 105 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 79 of file narf_keypoint.h.

float pcl::NarfKeypoint::Parameters::min_interest_value

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

Definition at line 86 of file narf_keypoint.h.

float pcl::NarfKeypoint::Parameters::min_surface_change_score

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

Definition at line 87 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 102 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 82 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 88 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 77 of file narf_keypoint.h.

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 106 of file narf_keypoint.h.

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

• narf_keypoint.h