Point Cloud Library (PCL)
1.13.0dev

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...  
Parameters used in this class.
Definition at line 73 of file narf_keypoint.h.

inline 
Definition at line 75 of file narf_keypoint.h.
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 103 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 114 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 99 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 105 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 84 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 111 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 85 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 92 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 93 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 108 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 88 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 94 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 83 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 112 of file narf_keypoint.h.