Rewrote big parts of the NARF keypoint extraction. Hopfully fixing some...

Rewrote big parts of the NARF keypoint extraction. Hopfully fixing some stability issues. Unfortunately still pretty slow for high resolution point clouds.


git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@3267 a9d63959-f2ad-4865-b262-bf0e56cfafb6

keypoints/include/pcl/keypoints/narf_keypoint.h

@@ -67,11 +67,12 @@ class PCL_EXPORTS NarfKeypoint : public Keypoint<PointWithRange, int>
     struct Parameters
     {
       Parameters() : support_size(-1.0f), max_no_of_interest_points(-1), min_distance_between_interest_points(0.25f),
-                     optimal_distance_to_high_surface_change(0.25), min_interest_value(0.4f),
+                     optimal_distance_to_high_surface_change(0.25), min_interest_value(0.45f),
                      min_surface_change_score(0.2f), optimal_range_image_patch_size(10),
                      distance_for_additional_points(0.0f), add_points_on_straight_edges(false),
-                     do_non_maximum_suppression(true), no_of_polynomial_approximations_per_point(1),
-                     max_no_of_threads(1) {}
+                     do_non_maximum_suppression(true), no_of_polynomial_approximations_per_point(0),
+                     max_no_of_threads(1), use_recursive_scale_reduction(false),
+                     calculate_sparse_interest_image(true) {}
       
       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
@@ -102,6 +103,10 @@ class PCL_EXPORTS NarfKeypoint : public Keypoint<PointWithRange, int>
                                                            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
+      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. */
+      bool calculate_sparse_interest_image;  /**< Use some heuristics to decide which areas of the interest image
+                                                  can be left out to improve the runtime. */
     };
     
     // =====CONSTRUCTOR & DESTRUCTOR=====
@@ -155,6 +160,10 @@ class PCL_EXPORTS NarfKeypoint : public Keypoint<PointWithRange, int>
       calculateScaleSpace ();
     void
       calculateInterestImage ();
+    void
+      calculateCompleteInterestImage ();
+    void
+      calculateSparseInterestImage ();
     void
       calculateInterestPoints ();
     //void