Point Cloud Library (PCL)
1.7.0
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Detector class for AGAST corner point detector (OAST 9_16). More...
#include <pcl/keypoints/agast_2d.h>
Public Types | |
typedef boost::shared_ptr < OastDetector9_16 > | Ptr |
typedef boost::shared_ptr < const OastDetector9_16 > | ConstPtr |
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typedef boost::shared_ptr < AbstractAgastDetector > | Ptr |
typedef boost::shared_ptr < const AbstractAgastDetector > | ConstPtr |
Public Member Functions | |
OastDetector9_16 (const size_t width, const size_t height, const double threshold, const double bmax=255) | |
Constructor. More... | |
~OastDetector9_16 () | |
Destructor. More... | |
int | computeCornerScore (const unsigned char *im) const |
Computes corner score. More... | |
int | computeCornerScore (const float *im) const |
Computes corner score. More... | |
void | detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const |
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 |
Detects points of interest (i.e., keypoints) in the given image. More... | |
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AbstractAgastDetector (const size_t width, const size_t height, const double threshold, const double bmax) | |
Constructor. More... | |
virtual | ~AbstractAgastDetector () |
Destructor. More... | |
void | detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) |
Detects corner points. More... | |
void | detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) |
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 nuber of keypoints to return, as set by the user. More... | |
Protected Member Functions | |
void | initPattern () |
Initializes the sample pattern. More... | |
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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) |
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) |
Computes corner scores for the specified points. More... | |
Additional Inherited Members | |
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size_t | width_ |
Width of the image to process. More... | |
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... | |
Detector class for AGAST corner point detector (OAST 9_16).
Adapted from the C++ implementation of Elmar Mair (http://www6.in.tum.de/Main/ResearchAgast).
Definition at line 426 of file agast_2d.h.
typedef boost::shared_ptr<const OastDetector9_16> pcl::keypoints::agast::OastDetector9_16::ConstPtr |
Definition at line 430 of file agast_2d.h.
typedef boost::shared_ptr<OastDetector9_16> pcl::keypoints::agast::OastDetector9_16::Ptr |
Definition at line 429 of file agast_2d.h.
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inline |
Constructor.
[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 438 of file agast_2d.h.
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inline |
Destructor.
Definition at line 448 of file agast_2d.h.
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virtual |
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virtual |
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virtual |
Detects points of interest (i.e., keypoints) in the given image.
[in] | im | the image to detect keypoints in |
[out] | corners_all | the resultant set of keypoints detected |
Implements pcl::keypoints::agast::AbstractAgastDetector.
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virtual |
Detects points of interest (i.e., keypoints) in the given image.
[in] | im | the image to detect keypoints in |
[out] | corners_all | the resultant set of keypoints detected |
Implements pcl::keypoints::agast::AbstractAgastDetector.
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protectedvirtual |
Initializes the sample pattern.
Implements pcl::keypoints::agast::AbstractAgastDetector.