Point Cloud Library (PCL)  1.13.0-dev
agast_2d.hpp
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38 
39 #ifndef PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_
40 #define PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_
41 
42 #include <pcl/common/io.h>
43 
44 
45 namespace pcl
46 {
47 
48 template <typename PointInT, typename PointOutT, typename IntensityT> bool
50 {
52  {
53  PCL_ERROR ("[pcl::%s::initCompute] init failed.!\n", name_.c_str ());
54  return (false);
55  }
56 
57  if (!input_->isOrganized ())
58  {
59  PCL_ERROR ("[pcl::%s::initCompute] %s doesn't support non organized clouds!\n", name_.c_str ());
60  return (false);
61  }
62 
63  return (true);
64 }
65 
66 
67 template <typename PointInT, typename PointOutT> void
69 {
70  // image size
71  const std::size_t width = input_->width;
72  const std::size_t height = input_->height;
73 
74  // destination for intensity data; will be forwarded to AGAST
75  std::vector<unsigned char> image_data (width*height);
76 
77  for (std::size_t i = 0; i < image_data.size (); ++i)
78  image_data[i] = static_cast<unsigned char> (intensity_ ((*input_)[i]));
79 
80  if (!detector_)
81  detector_.reset (new pcl::keypoints::agast::AgastDetector7_12s (width, height, threshold_, bmax_));
82 
83  detector_->setMaxKeypoints (nr_max_keypoints_);
84 
85  if (apply_non_max_suppression_)
86  {
88  detector_->detectKeypoints (image_data, tmp_cloud);
89 
91  image_data, tmp_cloud, detector_, output);
92  }
93  else
94  {
96  image_data, detector_, output);
97  }
98 
99  // we do not change the denseness
100  output.is_dense = true;
101 }
102 
103 } // namespace pcl
104 
105 #define AgastKeypoint2D(T,I) template class PCL_EXPORTS pcl::AgastKeypoint2D<T,I>;
106 
107 #endif
108 
bool initCompute() override
Initializes everything and checks whether input data is fine.
Definition: agast_2d.hpp:49
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: agast_2d.h:720
void detectKeypoints(PointCloudOut &output) override
Detects the keypoints.
Definition: agast_2d.hpp:68
Keypoint represents the base class for key points.
Definition: keypoint.h:49
Detector class for AGAST corner point detector (7_12s).
Definition: agast_2d.h:267