Point Cloud Library (PCL) 1.12.0
|
Detects 2D AGAST corner points. More...
#include <pcl/keypoints/agast_2d.h>
Public Types | |
using | PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn |
using | PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut |
using | KdTree = typename Keypoint<PointInT, PointOutT>::KdTree |
using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
using | AgastDetectorPtr = pcl::keypoints::agast::AbstractAgastDetector::Ptr |
![]() | |
using | Ptr = shared_ptr<Keypoint<PointInT, PointOutT> > |
using | ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> > |
using | BaseClass = PCLBase<PointInT> |
using | KdTree = pcl::search::Search<PointInT> |
using | KdTreePtr = typename KdTree::Ptr |
using | PointCloudIn = pcl::PointCloud<PointInT> |
using | PointCloudInPtr = typename PointCloudIn::Ptr |
using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
using | PointCloudOut = pcl::PointCloud<PointOutT> |
using | SearchMethod = std::function<int (pcl::index_t, double, pcl::Indices &, std::vector<float> &)> |
using | SearchMethodSurface = std::function<int (const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector<float> &)> |
![]() | |
using | PointCloud |
using | PointCloudPtr |
using | PointCloudConstPtr |
using | PointIndicesPtr |
using | PointIndicesConstPtr |
Public Member Functions | |
AgastKeypoint2DBase () | |
Constructor. | |
~AgastKeypoint2DBase () | |
Destructor. | |
void | setThreshold (const double threshold) |
Sets the threshold for corner detection. | |
double | getThreshold () |
Get the threshold for corner detection, as set by the user. | |
void | setMaxKeypoints (const unsigned int nr_max_keypoints) |
Sets the maximum number of keypoints to return. | |
unsigned int | getMaxKeypoints () |
Get the maximum number of keypoints to return, as set by the user. | |
void | setMaxDataValue (const double bmax) |
Sets the max image data value (affects how many iterations AGAST does) | |
double | getMaxDataValue () |
Get the bmax image value, as set by the user. | |
void | setNonMaxSuppression (const bool enabled) |
Sets whether non-max-suppression is applied or not. | |
bool | getNonMaxSuppression () |
Returns whether non-max-suppression is applied or not. | |
void | setAgastDetector (const AgastDetectorPtr &detector) |
AgastDetectorPtr | getAgastDetector () |
![]() | |
Keypoint () | |
void | harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh) |
void | hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE) |
void | hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales) |
void | imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2) |
Keypoint () | |
Empty constructor. | |
~Keypoint () | |
Empty destructor. | |
virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset that we need to estimate features at every point for. | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. | |
double | getSearchParameter () |
Get the internal search parameter. | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. | |
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 () | |
int | searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
![]() | |
PCLBase () | |
Empty constructor. | |
PCLBase (const PCLBase &base) | |
Copy constructor. | |
virtual | ~PCLBase ()=default |
Destructor. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. | |
IndicesPtr | getIndices () |
Get a pointer to the vector of indices used. | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. | |
const PointInT & | operator[] (std::size_t pos) const |
Override PointCloud operator[] to shorten code. | |
Protected Member Functions | |
bool | initCompute () override |
Initializes everything and checks whether input data is fine. | |
void | detectKeypoints (PointCloudOut &output) override=0 |
Detects the keypoints. | |
![]() | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. | |
![]() | |
bool | initCompute () |
This method should get called before starting the actual computation. | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. | |
Protected Attributes | |
IntensityT | intensity_ |
Intensity field accessor. | |
double | threshold_ |
Threshold for corner detection. | |
bool | apply_non_max_suppression_ |
Determines whether non-max-suppression is activated. | |
double | bmax_ |
Max image value. | |
AgastDetectorPtr | detector_ |
The Agast detector to use. | |
unsigned int | nr_max_keypoints_ |
The maximum number of keypoints to return. | |
![]() | |
std::string | name_ |
The key point detection method's name. | |
SearchMethod | search_method_ |
The search method template for indices. | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. | |
KdTreePtr | tree_ |
A pointer to the spatial search object. | |
double | search_parameter_ |
The actual search parameter (casted from either search_radius_ or k_). | |
double | search_radius_ |
The nearest neighbors search radius for each point. | |
int | k_ |
The number of K nearest neighbors to use for each point. | |
pcl::PointIndicesPtr | keypoints_indices_ |
Indices of the keypoints in the input cloud. | |
![]() | |
PointCloudConstPtr | input_ |
The input point cloud dataset. | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. | |
bool | use_indices_ |
Set to true if point indices are used. | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. | |
Detects 2D AGAST corner points.
Based on the original work and paper reference by
Definition at line 556 of file agast_2d.h.
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastDetectorPtr = pcl::keypoints::agast::AbstractAgastDetector::Ptr |
Definition at line 564 of file agast_2d.h.
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree |
Definition at line 561 of file agast_2d.h.
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn |
Definition at line 559 of file agast_2d.h.
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
Definition at line 562 of file agast_2d.h.
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut |
Definition at line 560 of file agast_2d.h.
|
inline |
Constructor.
Definition at line 572 of file agast_2d.h.
References pcl::Keypoint< PointInT, PointOutT >::k_.
|
inline |
Destructor.
Definition at line 582 of file agast_2d.h.
|
overrideprotectedpure virtual |
Detects the keypoints.
[out] | output | the resultant keypoints |
Implements pcl::Keypoint< PointInT, PointOutT >.
Implemented in pcl::AgastKeypoint2D< PointInT, PointOutT >.
|
inline |
Definition at line 658 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_.
|
inline |
Get the bmax image value, as set by the user.
Definition at line 630 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_.
|
inline |
Get the maximum number of keypoints to return, as set by the user.
Definition at line 614 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::nr_max_keypoints_.
|
inline |
Returns whether non-max-suppression is applied or not.
Definition at line 646 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::apply_non_max_suppression_.
|
inline |
Get the threshold for corner detection, as set by the user.
Definition at line 597 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_.
|
overrideprotectedvirtual |
Initializes everything and checks whether input data is fine.
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 49 of file agast_2d.hpp.
|
inline |
Definition at line 652 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_.
|
inline |
Sets the max image data value (affects how many iterations AGAST does)
[in] | bmax | the max image data value |
Definition at line 623 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_.
|
inline |
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 607 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::nr_max_keypoints_.
|
inline |
Sets whether non-max-suppression is applied or not.
[in] | enabled | determines whether non-max-suppression is enabled. |
Definition at line 639 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::apply_non_max_suppression_.
|
inline |
Sets the threshold for corner detection.
[in] | threshold | the threshold used for corner detection. |
Definition at line 590 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_.
|
protected |
Determines whether non-max-suppression is activated.
Definition at line 681 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getNonMaxSuppression(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setNonMaxSuppression().
|
protected |
Max image value.
Definition at line 684 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxDataValue(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setMaxDataValue().
|
protected |
The Agast detector to use.
Definition at line 687 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getAgastDetector(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setAgastDetector().
|
protected |
Intensity field accessor.
Definition at line 675 of file agast_2d.h.
|
protected |
The maximum number of keypoints to return.
Definition at line 690 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxKeypoints(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setMaxKeypoints().
|
protected |
Threshold for corner detection.
Definition at line 678 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getThreshold(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setThreshold().