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point_cloud_library / latest / classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html

Detector class for AGAST corner point detector (5_8). More...

#include <pcl/keypoints/agast_2d.h>

Public Types
using Ptr = shared_ptr< AgastDetector5_8 >
using ConstPtr = shared_ptr< const AgastDetector5_8 >
- Public Types inherited from pcl::keypoints::agast::AbstractAgastDetector
using Ptr = shared_ptr< AbstractAgastDetector >
using ConstPtr = shared_ptr< const AbstractAgastDetector >

Public Member Functions
AgastDetector5_8 (const std::size_t width, const std::size_t height, const double threshold, const double bmax=255)
Constructor. More...
~AgastDetector5_8 () override=default
Destructor. More...
int computeCornerScore (const unsigned char *im) const override
Computes corner score. More...
int computeCornerScore (const float *im) const override
Computes corner score. More...
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...
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...
- Public Member Functions inherited from pcl::keypoints::agast::AbstractAgastDetector
AbstractAgastDetector (const std::size_t width, const std::size_t height, const double threshold, const double bmax)
Constructor. More...
virtual ~AbstractAgastDetector ()=default
Destructor. More...
void detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const
Detects corner points. More...
void detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const
Detects corner points. More...
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...
void applyNonMaxSuppression (const std::vector< float > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output)
Applies non-max-suppression. 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 number of keypoints to return, as set by the user. More...

Protected Member Functions
void initPattern () override
Initializes the sample pattern. More...
- Protected Member Functions inherited from pcl::keypoints::agast::AbstractAgastDetector
void applyNonMaxSuppression (const pcl::PointCloud< pcl::PointUV > &input, const std::vector< ScoreIndex > &scores, pcl::PointCloud< pcl::PointUV > &output)
Non-max-suppression helper method. More...
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...
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...

Additional Inherited Members
- Protected Attributes inherited from pcl::keypoints::agast::AbstractAgastDetector
std::size_t width_
Width of the image to process. More...
std::size_t height_
Height of the image to process. More...
double threshold_
Threshold for corner detection. More...
unsigned int nr_max_keypoints_
The maximum number of keypoints to return. More...
double bmax_
Max image value. More...

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).

Author
Stefan Holzer

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()

pcl::keypoints::agast::AgastDetector5_8::AgastDetector5_8 ( const std::size_t width,
const std::size_t height,
const double threshold,
const double bmax = 255
)
inline

Constructor.

Parameters
[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()

pcl::keypoints::agast::AgastDetector5_8::~AgastDetector5_8 ( )
overridedefault

Destructor.

Member Function Documentation

computeCornerScore() [1/2]

int pcl::keypoints::agast::AgastDetector5_8::computeCornerScore ( const float * im ) const
overridevirtual

Computes corner score.

Parameters
im

Implements pcl::keypoints::agast::AbstractAgastDetector.

computeCornerScore() [2/2]

int pcl::keypoints::agast::AgastDetector5_8::computeCornerScore ( const unsigned char * im ) const
overridevirtual

Computes corner score.

Parameters
im

Implements pcl::keypoints::agast::AbstractAgastDetector.

detect() [1/2]

void pcl::keypoints::agast::AgastDetector5_8::detect ( const float * im,
std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & corners_all
) const
overridevirtual

Detects points of interest (i.e., keypoints) in the given image.

Parameters
[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]

void pcl::keypoints::agast::AgastDetector5_8::detect ( const unsigned char * im,
std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & corners_all
) const
overridevirtual

Detects points of interest (i.e., keypoints) in the given image.

Parameters
[in] im the image to detect keypoints in
[out] corners_all the resultant set of keypoints detected

Implements pcl::keypoints::agast::AbstractAgastDetector.

initPattern()

void pcl::keypoints::agast::AgastDetector5_8::initPattern ( )
overrideprotectedvirtual

Initializes the sample pattern.

Implements pcl::keypoints::agast::AbstractAgastDetector.

The documentation for this class was generated from the following file:

© 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