Point Cloud Library (PCL)
1.7.2
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Detects 2D AGAST corner points. More...
#include <pcl/keypoints/agast_2d.h>
Public Types | |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::keypoints::agast::AbstractAgastDetector::Ptr | AgastDetectorPtr |
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typedef boost::shared_ptr < Keypoint< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const Keypoint< PointInT, PointOutT > > | ConstPtr |
typedef PCLBase< PointInT > | BaseClass |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud < PointOutT > | PointCloudOut |
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> | SearchMethodSurface |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
AgastKeypoint2DBase () | |
Constructor. More... | |
virtual | ~AgastKeypoint2DBase () |
Destructor. More... | |
void | setThreshold (const double threshold) |
Sets the threshold for corner detection. More... | |
double | getThreshold () |
Get the threshold for corner detection, as set by the user. More... | |
void | setMaxKeypoints (const unsigned int nr_max_keypoints) |
Sets the maximum number of keypoints to return. More... | |
unsigned int | getMaxKeypoints () |
Get the maximum nuber of keypoints to return, as set by the user. More... | |
void | setMaxDataValue (const double bmax) |
Sets the max image data value (affects how many iterations AGAST does) More... | |
double | getMaxDataValue () |
Get the bmax image value, as set by the user. More... | |
void | setNonMaxSuppression (const bool enabled) |
Sets whether non-max-suppression is applied or not. More... | |
bool | getNonMaxSuppression () |
Returns whether non-max-suppression is applied or not. More... | |
void | setAgastDetector (const AgastDetectorPtr &detector) |
AgastDetectorPtr | getAgastDetector () |
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Keypoint () | |
Empty constructor. More... | |
virtual | ~Keypoint () |
Empty destructor. More... | |
virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset that we need to estimate features at every point for. More... | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. More... | |
double | getSearchParameter () |
Get the internal search parameter. More... | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. More... | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More... | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. More... | |
pcl::PointIndicesConstPtr | getKeypointsIndices () |
void | compute (PointCloudOut &output) |
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... | |
int | searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
bool | initCompute () |
Initializes everything and checks whether input data is fine. More... | |
virtual void | detectKeypoints (PointCloudOut &output)=0 |
Detects the keypoints. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
IntensityT | intensity_ |
Intensity field accessor. More... | |
double | threshold_ |
Threshold for corner detection. More... | |
bool | apply_non_max_suppression_ |
Determines whether non-max-suppression is activated. More... | |
double | bmax_ |
Max image value. More... | |
AgastDetectorPtr | detector_ |
The Agast detector to use. More... | |
unsigned int | nr_max_keypoints_ |
The maximum number of keypoints to return. More... | |
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std::string | name_ |
The key point detection method's name. More... | |
SearchMethod | search_method_ |
The search method template for indices. More... | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. More... | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
double | search_parameter_ |
The actual search parameter (casted from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
The number of K nearest neighbors to use for each point. More... | |
pcl::PointIndicesPtr | keypoints_indices_ |
Indices of the keypoints in the input cloud. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
Detects 2D AGAST corner points.
Based on the original work and paper reference by
Definition at line 587 of file agast_2d.h.
typedef pcl::keypoints::agast::AbstractAgastDetector::Ptr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastDetectorPtr |
Definition at line 595 of file agast_2d.h.
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::KdTree |
Definition at line 592 of file agast_2d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudIn |
Definition at line 590 of file agast_2d.h.
typedef PointCloudIn::ConstPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr |
Definition at line 593 of file agast_2d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudOut |
Definition at line 591 of file agast_2d.h.
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Constructor.
Definition at line 603 of file agast_2d.h.
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Destructor.
Definition at line 614 of file agast_2d.h.
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protectedpure virtual |
Detects the keypoints.
[out] | output | the resultant keypoints |
Implements pcl::Keypoint< PointInT, PointOutT >.
Implemented in pcl::AgastKeypoint2D< PointInT, PointOutT >.
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Definition at line 690 of file agast_2d.h.
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Get the bmax image value, as set by the user.
Definition at line 662 of file agast_2d.h.
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Get the maximum nuber of keypoints to return, as set by the user.
Definition at line 646 of file agast_2d.h.
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Returns whether non-max-suppression is applied or not.
Definition at line 678 of file agast_2d.h.
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Get the threshold for corner detection, as set by the user.
Definition at line 629 of file agast_2d.h.
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Initializes everything and checks whether input data is fine.
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 46 of file agast_2d.hpp.
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Definition at line 684 of file agast_2d.h.
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Sets the max image data value (affects how many iterations AGAST does)
[in] | bmax | the max image data value |
Definition at line 655 of file agast_2d.h.
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Sets the maximum number of keypoints to return.
The estimated keypoints are sorted by their internal score.
[in] | nr_max_keypoints | set the maximum number of keypoints to return |
Definition at line 639 of file agast_2d.h.
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Sets whether non-max-suppression is applied or not.
[in] | enabled | determines whether non-max-suppression is enabled. |
Definition at line 671 of file agast_2d.h.
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Sets the threshold for corner detection.
[in] | threshold | the threshold used for corner detection. |
Definition at line 622 of file agast_2d.h.
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Determines whether non-max-suppression is activated.
Definition at line 713 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getNonMaxSuppression(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setNonMaxSuppression().
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Max image value.
Definition at line 716 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getMaxDataValue(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setMaxDataValue().
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The Agast detector to use.
Definition at line 719 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getAgastDetector(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setAgastDetector().
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Intensity field accessor.
Definition at line 707 of file agast_2d.h.
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The maximum number of keypoints to return.
Definition at line 722 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getMaxKeypoints(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setMaxKeypoints().
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Threshold for corner detection.
Definition at line 710 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getThreshold(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setThreshold().