Detector class for AGAST corner point detector (5_8). More...
#include <pcl/keypoints/agast_2d.h>
Public Types |
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| using | Ptr = shared_ptr< AgastDetector5_8 > |
| using | ConstPtr = shared_ptr< const AgastDetector5_8 > |
 Public Types inherited from pcl::keypoints::agast::AbstractAgastDetector |
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| using | Ptr = shared_ptr< AbstractAgastDetector > |
| using | ConstPtr = shared_ptr< const AbstractAgastDetector > |
Public Member Functions |
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| AgastDetector5_8 (const std::size_t width, const std::size_t height, const double threshold, const double bmax=255) | |
| Constructor. More... |
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| ~AgastDetector5_8 () | |
| Destructor. More... |
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| int | computeCornerScore (const unsigned char *im) const override |
| Computes corner score. More... |
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| int | computeCornerScore (const float *im) const override |
| Computes corner score. More... |
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| void | detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const override |
| Detects points of interest (i.e., keypoints) in the given image. More... |
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| void | detect (const float *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const override |
| Detects points of interest (i.e., keypoints) in the given image. More... |
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| Public Member Functions inherited from pcl::keypoints::agast::AbstractAgastDetector |
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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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| 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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Protected Member Functions |
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| void | initPattern () override |
| Initializes the sample pattern. More... |
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| Protected Member Functions inherited from pcl::keypoints::agast::AbstractAgastDetector |
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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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Additional Inherited Members |
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| Protected Attributes inherited from pcl::keypoints::agast::AbstractAgastDetector |
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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
Detector class for AGAST corner point detector (5_8).
Adapted from the C++ implementation of Elmar Mair (http://www6.in.tum.de/Main/ResearchAgast).
Definition at line 337 of file agast_2d.h.
Member Typedef Documentation
ConstPtr
| using pcl::keypoints::agast::AgastDetector5_8::ConstPtr = shared_ptr<const AgastDetector5_8> |
Definition at line 341 of file agast_2d.h.
Ptr
| using pcl::keypoints::agast::AgastDetector5_8::Ptr = shared_ptr<AgastDetector5_8> |
Definition at line 340 of file agast_2d.h.
Constructor & Destructor Documentation
AgastDetector5_8()
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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 349 of file agast_2d.h.
~AgastDetector5_8()
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inline |
Destructor.
Definition at line 359 of file agast_2d.h.
Member Function Documentation
computeCornerScore() [1/2]
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overridevirtual |
computeCornerScore() [2/2]
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overridevirtual |
detect() [1/2]
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overridevirtual |
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
Implements pcl::keypoints::agast::AbstractAgastDetector.
detect() [2/2]
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overridevirtual |
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
Implements pcl::keypoints::agast::AbstractAgastDetector.
initPattern()
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overrideprotectedvirtual |
Initializes the sample pattern.
Implements pcl::keypoints::agast::AbstractAgastDetector.
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_agast_detector5__8.html
