Point Cloud Library (PCL) 1.12.0
|
A layer in the BRISK detector pyramid. More...
#include <pcl/keypoints/brisk_2d.h>
Classes | |
struct | CommonParams |
Public Member Functions | |
Layer (const std::vector< unsigned char > &img, int width, int height, float scale=1.0f, float offset=0.0f) | |
Constructor. | |
Layer (const Layer &layer, int mode) | |
Copy constructor for deriving a layer. | |
void | getAgastPoints (std::uint8_t threshold, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &keypoints) |
AGAST keypoints without non-max suppression. | |
std::uint8_t | getAgastScore (int x, int y, std::uint8_t threshold) |
Get the AGAST keypoint score for a given pixel using a threshold. | |
std::uint8_t | getAgastScore_5_8 (int x, int y, std::uint8_t threshold) |
Get the AGAST keypoint score for a given pixel using a threshold. | |
std::uint8_t | getAgastScore (float xf, float yf, std::uint8_t threshold, float scale=1.0f) |
Get the AGAST keypoint score for a given pixel using a threshold. | |
std::uint8_t | getValue (const std::vector< unsigned char > &mat, int width, int height, float xf, float yf, float scale) |
Access gray values (smoothed/interpolated) | |
const std::vector< unsigned char > & | getImage () const |
Get the image used. | |
int | getImageWidth () const |
Get the width of the image used. | |
int | getImageHeight () const |
Get the height of the image used. | |
float | getScale () const |
Get the scale used. | |
float | getOffset () const |
Get the offset used. | |
const std::vector< unsigned char > & | getScores () const |
Get the scores obtained. | |
A layer in the BRISK detector pyramid.
Definition at line 248 of file brisk_2d.h.
pcl::keypoints::brisk::Layer::Layer | ( | const std::vector< unsigned char > & | img, |
int | width, | ||
int | height, | ||
float | scale = 1.0f, | ||
float | offset = 0.0f ) |
Constructor.
[in] | img | input image |
[in] | width | image width |
[in] | height | image height |
[in] | scale | scale |
[in] | offset | offset |
Copy constructor for deriving a layer.
[in] | layer | layer to derive from |
[in] | mode | deriving mode |
void pcl::keypoints::brisk::Layer::getAgastPoints | ( | std::uint8_t | threshold, |
std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & | keypoints ) |
AGAST keypoints without non-max suppression.
[in] | threshold | the keypoints threshold |
[out] | keypoints | the AGAST keypoints |
std::uint8_t pcl::keypoints::brisk::Layer::getAgastScore | ( | float | xf, |
float | yf, | ||
std::uint8_t | threshold, | ||
float | scale = 1.0f ) |
Get the AGAST keypoint score for a given pixel using a threshold.
[in] | xf | the X coordinate of the pixel |
[in] | yf | the Y coordinate of the pixel |
[in] | threshold | the threshold to use for cutting the response |
[in] | scale | the scale |
Get the AGAST keypoint score for a given pixel using a threshold.
[in] | x | the U coordinate of the pixel |
[in] | y | the V coordinate of the pixel |
[in] | threshold | the threshold to use for cutting the response |
std::uint8_t pcl::keypoints::brisk::Layer::getAgastScore_5_8 | ( | int | x, |
int | y, | ||
std::uint8_t | threshold ) |
Get the AGAST keypoint score for a given pixel using a threshold.
[in] | x | the U coordinate of the pixel |
[in] | y | the V coordinate of the pixel |
[in] | threshold | the threshold to use for cutting the response |
Get the image used.
Definition at line 320 of file brisk_2d.h.
|
inline |
Get the height of the image used.
Definition at line 334 of file brisk_2d.h.
|
inline |
Get the width of the image used.
Definition at line 327 of file brisk_2d.h.
|
inline |
Get the offset used.
Definition at line 348 of file brisk_2d.h.
|
inline |
Get the scale used.
Definition at line 341 of file brisk_2d.h.
Get the scores obtained.
Definition at line 355 of file brisk_2d.h.
std::uint8_t pcl::keypoints::brisk::Layer::getValue | ( | const std::vector< unsigned char > & | mat, |
int | width, | ||
int | height, | ||
float | xf, | ||
float | yf, | ||
float | scale ) |
Access gray values (smoothed/interpolated)
[in] | mat | the image |
[in] | width | the image width |
[in] | height | the image height |
[in] | xf | the x coordinate |
[in] | yf | the y coordinate |
[in] | scale | the scale |