Implementation of the BRISK-descriptor, based on the original code and paper reference by. More...
#include <pcl/features/brisk_2d.h>
Public Types |
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using | Ptr = shared_ptr< BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT > > |
using | ConstPtr = shared_ptr< const BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT > > |
using | PointCloudInT = pcl::PointCloud< PointInT > |
using | PointCloudInTConstPtr = typename PointCloudInT::ConstPtr |
using | KeypointPointCloudT = pcl::PointCloud< KeypointT > |
using | KeypointPointCloudTPtr = typename KeypointPointCloudT::Ptr |
using | KeypointPointCloudTConstPtr = typename KeypointPointCloudT::ConstPtr |
using | PointCloudOutT = pcl::PointCloud< PointOutT > |
Public Member Functions |
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BRISK2DEstimation () | |
Constructor. More... |
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virtual | ~BRISK2DEstimation () |
Destructor. More... |
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void | setRotationInvariance (const bool enable) |
Determines whether rotation invariance is enabled. More... |
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void | setScaleInvariance (const bool enable) |
Determines whether scale invariance is enabled. More... |
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void | setInputCloud (const PointCloudInTConstPtr &cloud) |
Sets the input cloud. More... |
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void | setKeypoints (const KeypointPointCloudTPtr &keypoints) |
Sets the input keypoints. More... |
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void | compute (PointCloudOutT &output) |
Computes the descriptors for the previously specified points and input data. More... |
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Protected Member Functions |
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void | generateKernel (std::vector< float > &radius_list, std::vector< int > &number_list, float d_max=5.85f, float d_min=8.2f, std::vector< int > index_change=std::vector< int >()) |
Call this to generate the kernel: circle of radius r (pixels), with n points; short pairings with dMax, long pairings with dMin. More... |
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int | smoothedIntensity (const std::vector< unsigned char > &image, int image_width, int image_height, const std::vector< int > &integral_image, const float key_x, const float key_y, const unsigned int scale, const unsigned int rot, const unsigned int point) const |
Compute the smoothed intensity for a given x/y position in the image. More... |
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Detailed Description
template<typename PointInT, typename PointOutT = pcl::BRISKSignature512, typename KeypointT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >
Implementation of the BRISK-descriptor, based on the original code and paper reference by.
- Stefan Leutenegger,Margarita Chli and Roland Siegwart, BRISK: Binary Robust Invariant Scalable Keypoints, in Proceedings of the IEEE International Conference on Computer Vision (ICCV2011).
- Warning
- The input keypoints cloud is not const, and it will be modified: keypoints for which descriptors can not be computed will be deleted from the cloud.
Definition at line 66 of file brisk_2d.h.
Member Typedef Documentation
ConstPtr
using pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::ConstPtr = shared_ptr<const BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT> > |
Definition at line 70 of file brisk_2d.h.
KeypointPointCloudT
using pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::KeypointPointCloudT = pcl::PointCloud<KeypointT> |
Definition at line 75 of file brisk_2d.h.
KeypointPointCloudTConstPtr
using pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::KeypointPointCloudTConstPtr = typename KeypointPointCloudT::ConstPtr |
Definition at line 77 of file brisk_2d.h.
KeypointPointCloudTPtr
using pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::KeypointPointCloudTPtr = typename KeypointPointCloudT::Ptr |
Definition at line 76 of file brisk_2d.h.
PointCloudInT
using pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::PointCloudInT = pcl::PointCloud<PointInT> |
Definition at line 72 of file brisk_2d.h.
PointCloudInTConstPtr
using pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::PointCloudInTConstPtr = typename PointCloudInT::ConstPtr |
Definition at line 73 of file brisk_2d.h.
PointCloudOutT
using pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::PointCloudOutT = pcl::PointCloud<PointOutT> |
Definition at line 79 of file brisk_2d.h.
Ptr
using pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::Ptr = shared_ptr<BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT> > |
Definition at line 69 of file brisk_2d.h.
Constructor & Destructor Documentation
BRISK2DEstimation()
pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::BRISK2DEstimation |
Constructor.
Definition at line 49 of file brisk_2d.hpp.
References pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::generateKernel().
~BRISK2DEstimation()
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virtual |
Destructor.
Definition at line 90 of file brisk_2d.hpp.
Member Function Documentation
compute()
void pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::compute | ( | PointCloudOutT & | output | ) |
Computes the descriptors for the previously specified points and input data.
- Parameters
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[out] output descriptors the destination for the computed descriptors.
Definition at line 446 of file brisk_2d.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, M_PI, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
generateKernel()
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protected |
Call this to generate the kernel: circle of radius r (pixels), with n points; short pairings with dMax, long pairings with dMin.
- Note
- This should never be called by a regular user. We use a fixed type in PCL ( BRISKSignature512) and tampering with the parameters might lead to a different size descriptor which the user needs to accommodate in a new point type.
Definition at line 101 of file brisk_2d.hpp.
References M_PI.
Referenced by pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::BRISK2DEstimation().
setInputCloud()
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inline |
Sets the input cloud.
- Parameters
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[in] cloud the input cloud.
Definition at line 109 of file brisk_2d.h.
setKeypoints()
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inline |
Sets the input keypoints.
- Parameters
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[in] keypoints the input cloud containing the keypoints.
Definition at line 118 of file brisk_2d.h.
setRotationInvariance()
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inline |
Determines whether rotation invariance is enabled.
- Parameters
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[in] enable determines whether rotation invariance is enabled.
Definition at line 91 of file brisk_2d.h.
setScaleInvariance()
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inline |
Determines whether scale invariance is enabled.
- Parameters
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[in] enable determines whether scale invariance is enabled.
Definition at line 100 of file brisk_2d.h.
smoothedIntensity()
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inlineprotected |
Compute the smoothed intensity for a given x/y position in the image.
Definition at line 219 of file brisk_2d.hpp.
References pcl::B.
The documentation for this class was generated from the following files:
- pcl/features/brisk_2d.h
- pcl/features/impl/brisk_2d.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_b_r_i_s_k2_d_estimation.html