39#ifndef PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_
40#define PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_
42#include <pcl/common/io.h>
48template <
typename Po
intInT,
typename Po
intOutT,
typename IntensityT>
bool
53 PCL_ERROR (
"[pcl::%s::initCompute] init failed.!\n", name_.c_str ());
57 if (!input_->isOrganized ())
59 PCL_ERROR (
"[pcl::%s::initCompute] %s doesn't support non organized clouds!\n", name_.c_str ());
67template <
typename Po
intInT,
typename Po
intOutT>
void
71 const std::size_t width = input_->width;
72 const std::size_t height = input_->height;
75 std::vector<unsigned char>
image_data (width*height);
78 image_data[i] =
static_cast<unsigned char> (intensity_ ((*input_)[i]));
83 detector_->setMaxKeypoints (nr_max_keypoints_);
85 if (apply_non_max_suppression_)
105#define AgastKeypoint2D(T,I) template class PCL_EXPORTS pcl::AgastKeypoint2D<T,I>;
bool initCompute() override
Initializes everything and checks whether input data is fine.
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
void detectKeypoints(PointCloudOut &output) override
Detects the keypoints.
Iterator class for point clouds with or without given indices.
ConstCloudIterator(const PointCloud< PointT > &cloud)
std::size_t size() const
Size of the range the iterator is going through.
Keypoint represents the base class for key points.
Detector class for AGAST corner point detector (7_12s).