Abstract detector class for AGAST corner point detectors. More...
#include <pcl/keypoints/agast_2d.h>
Classes |
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struct | CompareScoreIndex |
Score index comparator. More... |
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struct | ScoreIndex |
Structure holding an index and the associated keypoint score. More... |
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Public Types |
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using | Ptr = shared_ptr< AbstractAgastDetector > |
using | ConstPtr = shared_ptr< const AbstractAgastDetector > |
Public Member Functions |
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AbstractAgastDetector (const std::size_t width, const std::size_t height, const double threshold, const double bmax) | |
Constructor. More... |
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virtual | ~AbstractAgastDetector () |
Destructor. More... |
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void | detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const |
Detects corner points. More... |
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void | detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const |
Detects corner points. More... |
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void | applyNonMaxSuppression (const std::vector< unsigned char > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output) |
Applies non-max-suppression. More... |
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void | applyNonMaxSuppression (const std::vector< float > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output) |
Applies non-max-suppression. More... |
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virtual int | computeCornerScore (const unsigned char *im) const =0 |
Computes corner score. More... |
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virtual int | computeCornerScore (const float *im) const =0 |
Computes corner score. More... |
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void | setThreshold (const double threshold) |
Sets the threshold for corner detection. More... |
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double | getThreshold () |
Get the threshold for corner detection, as set by the user. More... |
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void | setMaxKeypoints (const unsigned int nr_max_keypoints) |
Sets the maximum number of keypoints to return. More... |
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unsigned int | getMaxKeypoints () |
Get the maximum number of keypoints to return, as set by the user. More... |
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virtual void | detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const =0 |
Detects points of interest (i.e., keypoints) in the given image. More... |
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virtual void | detect (const float *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &) const =0 |
Detects points of interest (i.e., keypoints) in the given image. More... |
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Protected Member Functions |
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virtual void | initPattern ()=0 |
Initializes the sample pattern. More... |
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void | applyNonMaxSuppression (const pcl::PointCloud< pcl::PointUV > &input, const std::vector< ScoreIndex > &scores, pcl::PointCloud< pcl::PointUV > &output) |
Non-max-suppression helper method. More... |
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void | computeCornerScores (const unsigned char *im, const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all, std::vector< ScoreIndex > &scores) const |
Computes corner scores for the specified points. More... |
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void | computeCornerScores (const float *im, const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all, std::vector< ScoreIndex > &scores) const |
Computes corner scores for the specified points. More... |
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Protected Attributes |
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std::size_t | width_ |
Width of the image to process. More... |
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std::size_t | height_ |
Height of the image to process. More... |
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double | threshold_ |
Threshold for corner detection. More... |
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unsigned int | nr_max_keypoints_ |
The maximum number of keypoints to return. More... |
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double | bmax_ |
Max image value. More... |
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Detailed Description
Abstract detector class for AGAST corner point detectors.
Adapted from the C++ implementation of Elmar Mair (http://www6.in.tum.de/Main/ResearchAgast).
Definition at line 64 of file agast_2d.h.
Member Typedef Documentation
ConstPtr
using pcl::keypoints::agast::AbstractAgastDetector::ConstPtr = shared_ptr<const AbstractAgastDetector> |
Definition at line 68 of file agast_2d.h.
Ptr
using pcl::keypoints::agast::AbstractAgastDetector::Ptr = shared_ptr<AbstractAgastDetector> |
Definition at line 67 of file agast_2d.h.
Constructor & Destructor Documentation
AbstractAgastDetector()
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inline |
Constructor.
- Parameters
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[in] width the width of the image to process [in] height the height of the image to process [in] threshold the corner detection threshold [in] bmax the max image value (default: 255)
Definition at line 76 of file agast_2d.h.
~AbstractAgastDetector()
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inlinevirtual |
Destructor.
Definition at line 88 of file agast_2d.h.
Member Function Documentation
applyNonMaxSuppression() [1/3]
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protected |
Non-max-suppression helper method.
- Parameters
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[in] input the keypoint positions [in] scores the keypoint scores computed on the image data [out] output the resultant keypoints after non-max-supression
applyNonMaxSuppression() [2/3]
void pcl::keypoints::agast::AbstractAgastDetector::applyNonMaxSuppression | ( | const std::vector< float > & | intensity_data, |
const pcl::PointCloud< pcl::PointUV > & | input, | ||
pcl::PointCloud< pcl::PointUV > & | output | ||
) |
Applies non-max-suppression.
- Parameters
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[in] intensity_data the image data [in] input the keypoint positions [out] output the resultant keypoints after non-max-supression
applyNonMaxSuppression() [3/3]
void pcl::keypoints::agast::AbstractAgastDetector::applyNonMaxSuppression | ( | const std::vector< unsigned char > & | intensity_data, |
const pcl::PointCloud< pcl::PointUV > & | input, | ||
pcl::PointCloud< pcl::PointUV > & | output | ||
) |
Applies non-max-suppression.
- Parameters
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[in] intensity_data the image data [in] input the keypoint positions [out] output the resultant keypoints after non-max-supression
computeCornerScore() [1/2]
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pure virtual |
Computes corner score.
- Parameters
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[in] im the pixels to compute the score at
Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.
computeCornerScore() [2/2]
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pure virtual |
Computes corner score.
- Parameters
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[in] im the pixels to compute the score at
Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.
computeCornerScores() [1/2]
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protected |
Computes corner scores for the specified points.
- Parameters
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im corners_all scores
computeCornerScores() [2/2]
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protected |
Computes corner scores for the specified points.
- Parameters
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im corners_all scores
detect() [1/2]
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pure virtual |
Detects points of interest (i.e., keypoints) in the given image.
- Parameters
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[in] im the image to detect keypoints in
Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.
detect() [2/2]
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pure virtual |
Detects points of interest (i.e., keypoints) in the given image.
- Parameters
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[in] im the image to detect keypoints in [out] corners_all the resultant set of keypoints detected
Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.
detectKeypoints() [1/2]
void pcl::keypoints::agast::AbstractAgastDetector::detectKeypoints | ( | const std::vector< float > & | intensity_data, |
pcl::PointCloud< pcl::PointUV > & | output | ||
) | const |
Detects corner points.
- Parameters
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intensity_data output
detectKeypoints() [2/2]
void pcl::keypoints::agast::AbstractAgastDetector::detectKeypoints | ( | const std::vector< unsigned char > & | intensity_data, |
pcl::PointCloud< pcl::PointUV > & | output | ||
) | const |
Detects corner points.
- Parameters
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intensity_data output
getMaxKeypoints()
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inline |
Get the maximum number of keypoints to return, as set by the user.
Definition at line 166 of file agast_2d.h.
getThreshold()
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inline |
Get the threshold for corner detection, as set by the user.
Definition at line 149 of file agast_2d.h.
initPattern()
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protectedpure virtual |
Initializes the sample pattern.
Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.
setMaxKeypoints()
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inline |
Sets the maximum number of keypoints to return.
The estimated keypoints are sorted by their internal score.
- Parameters
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[in] nr_max_keypoints set the maximum number of keypoints to return
Definition at line 159 of file agast_2d.h.
setThreshold()
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inline |
Sets the threshold for corner detection.
- Parameters
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[in] threshold the threshold used for corner detection.
Definition at line 142 of file agast_2d.h.
Member Data Documentation
bmax_
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protected |
Max image value.
Definition at line 255 of file agast_2d.h.
height_
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protected |
Height of the image to process.
Definition at line 246 of file agast_2d.h.
nr_max_keypoints_
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protected |
The maximum number of keypoints to return.
Definition at line 252 of file agast_2d.h.
threshold_
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protected |
Threshold for corner detection.
Definition at line 249 of file agast_2d.h.
width_
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protected |
Width of the image to process.
Definition at line 244 of file agast_2d.h.
The documentation for this class was generated from the following file:
- pcl/keypoints/agast_2d.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html