pcl::NarfKeypoint::Parameters Struct Reference

Parameters used in this class. More...

`#include <narf_keypoint.h>`

## 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 |

Parameters used in this class.

Definition at line 73 of file narf_keypoint.h.

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

Definition at line 75 of file narf_keypoint.h.

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 103 of file narf_keypoint.h.

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

Definition at line 114 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 99 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 105 of file narf_keypoint.h.

The maximum number of interest points that will be returned.

Definition at line 84 of file narf_keypoint.h.

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

Definition at line 111 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 85 of file narf_keypoint.h.

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

Definition at line 92 of file narf_keypoint.h.

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

Definition at line 93 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 108 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 88 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 94 of file narf_keypoint.h.

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

Definition at line 83 of file narf_keypoint.h.

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 112 of file narf_keypoint.h.

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