Point Cloud Library (PCL)
1.14.1-dev
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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 |
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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 > &)> |
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using | PointCloud = pcl::PointCloud< PointInT > |
using | PointCloudPtr = typename PointCloud::Ptr |
using | PointCloudConstPtr = typename PointCloud::ConstPtr |
using | PointIndicesPtr = PointIndices::Ptr |
using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
AgastKeypoint2DBase () | |
Constructor. More... | |
~AgastKeypoint2DBase () override=default | |
Destructor. 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... | |
void | setMaxDataValue (const double bmax) |
Sets the max image data value (affects how many iterations AGAST does) More... | |
double | getMaxDataValue () |
Get the bmax image value, as set by the user. More... | |
void | setNonMaxSuppression (const bool enabled) |
Sets whether non-max-suppression is applied or not. More... | |
bool | getNonMaxSuppression () |
Returns whether non-max-suppression is applied or not. More... | |
void | setAgastDetector (const AgastDetectorPtr &detector) |
AgastDetectorPtr | getAgastDetector () |
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Keypoint ()=default | |
Keypoint () | |
Empty constructor. More... | |
void | harrisCorner (PointInT &output, PointInT &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh) |
void | hessianBlob (PointInT &output, PointInT &input, const float sigma, bool SCALE) |
void | hessianBlob (PointInT &output, PointInT &input, const float start_scale, const float scaling_factor, const int num_scales) |
void | imageElementMultiply (PointInT &output, PointInT &input1, PointInT &input2) |
~Keypoint () override=default | |
Empty destructor. More... | |
virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset that we need to estimate features at every point for. More... | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. More... | |
double | getSearchParameter () |
Get the internal search parameter. More... | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. More... | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More... | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. More... | |
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 () More... | |
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. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase ()=default |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
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. More... | |
IndicesPtr | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (std::size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
bool | initCompute () override |
Initializes everything and checks whether input data is fine. More... | |
void | detectKeypoints (PointCloudOut &output) override=0 |
Detects the keypoints. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual void | detectKeypoints (PointCloudOut &output)=0 |
Abstract key point detection method. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
IntensityT | intensity_ |
Intensity field accessor. More... | |
double | threshold_ {10} |
Threshold for corner detection. More... | |
bool | apply_non_max_suppression_ {true} |
Determines whether non-max-suppression is activated. More... | |
double | bmax_ {255} |
Max image value. More... | |
AgastDetectorPtr | detector_ |
The Agast detector to use. More... | |
unsigned int | nr_max_keypoints_ |
The maximum number of keypoints to return. More... | |
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std::string | name_ |
The key point detection method's name. More... | |
SearchMethod | search_method_ |
The search method template for indices. More... | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. More... | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
double | search_parameter_ |
The actual search parameter (casted from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
The number of K nearest neighbors to use for each point. More... | |
pcl::PointIndicesPtr | keypoints_indices_ |
Indices of the keypoints in the input cloud. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
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.
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inline |
Constructor.
Definition at line 572 of file agast_2d.h.
References pcl::Keypoint< PointInT, PointOutT >::k_.
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overridedefault |
Destructor.
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overrideprotectedpure virtual |
Detects the keypoints.
[out] | output | the resultant keypoints |
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Definition at line 654 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_.
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Get the bmax image value, as set by the user.
Definition at line 626 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_.
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Get the maximum number of keypoints to return, as set by the user.
Definition at line 610 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::nr_max_keypoints_.
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inline |
Returns whether non-max-suppression is applied or not.
Definition at line 642 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::apply_non_max_suppression_.
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Get the threshold for corner detection, as set by the user.
Definition at line 593 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_.
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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.
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inline |
Definition at line 648 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_.
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inline |
Sets the max image data value (affects how many iterations AGAST does)
[in] | bmax | the max image data value |
Definition at line 619 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_.
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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 603 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::nr_max_keypoints_.
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inline |
Sets whether non-max-suppression is applied or not.
[in] | enabled | determines whether non-max-suppression is enabled. |
Definition at line 635 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::apply_non_max_suppression_.
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inline |
Sets the threshold for corner detection.
[in] | threshold | the threshold used for corner detection. |
Definition at line 586 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_.
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protected |
Determines whether non-max-suppression is activated.
Definition at line 677 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getNonMaxSuppression(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setNonMaxSuppression().
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Max image value.
Definition at line 680 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxDataValue(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setMaxDataValue().
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The Agast detector to use.
Definition at line 683 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getAgastDetector(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setAgastDetector().
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Intensity field accessor.
Definition at line 671 of file agast_2d.h.
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The maximum number of keypoints to return.
Definition at line 686 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxKeypoints(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setMaxKeypoints().
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protected |
Threshold for corner detection.
Definition at line 674 of file agast_2d.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getThreshold(), and pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setThreshold().