Point Cloud Library (PCL)  1.11.0-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::AgastKeypoint2D< PointInT, PointOutT > Class Template Reference

Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

+ Inheritance diagram for pcl::AgastKeypoint2D< PointInT, PointOutT >:

Public Types

using PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut
 
- Public Types inherited from pcl::AgastKeypoint2DBase< PointInT, pcl::PointUV, pcl::common::IntensityFieldAccessor< PointInT > >
using PointCloudIn = typename Keypoint< PointInT, pcl::PointUV >::PointCloudIn
 
using PointCloudOut = typename Keypoint< PointInT, pcl::PointUV >::PointCloudOut
 
using KdTree = typename Keypoint< PointInT, pcl::PointUV >::KdTree
 
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
 
using AgastDetectorPtr = pcl::keypoints::agast::AbstractAgastDetector::Ptr
 
- Public Types inherited from pcl::Keypoint< PointInT, pcl::PointUV >
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(int, double, std::vector< int > &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>
 

Public Member Functions

 AgastKeypoint2D ()
 Constructor. More...
 
 ~AgastKeypoint2D ()
 Destructor. More...
 
- Public Member Functions inherited from pcl::AgastKeypoint2DBase< PointInT, pcl::PointUV, pcl::common::IntensityFieldAccessor< PointInT > >
 AgastKeypoint2DBase ()
 Constructor. More...
 
 ~AgastKeypoint2DBase ()
 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 ()
 
- Public Member Functions inherited from pcl::Keypoint< PointInT, pcl::PointUV >
 Keypoint ()
 
 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 ()
 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 (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 

Protected Member Functions

void detectKeypoints (PointCloudOut &output) override
 Detects the keypoints. More...
 
- Protected Member Functions inherited from pcl::AgastKeypoint2DBase< PointInT, pcl::PointUV, pcl::common::IntensityFieldAccessor< PointInT > >
bool initCompute () override
 Initializes everything and checks whether input data is fine. More...
 
void detectKeypoints (PointCloudOut &output) override=0
 Detects the keypoints. More...
 
- Protected Member Functions inherited from pcl::Keypoint< PointInT, pcl::PointUV >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::AgastKeypoint2DBase< PointInT, pcl::PointUV, pcl::common::IntensityFieldAccessor< PointInT > >
pcl::common::IntensityFieldAccessor< PointInT > intensity_
 Intensity field accessor. More...
 
double threshold_
 Threshold for corner detection. More...
 
bool apply_non_max_suppression_
 Determines whether non-max-suppression is activated. More...
 
double bmax_
 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...
 
- Protected Attributes inherited from pcl::Keypoint< PointInT, pcl::PointUV >
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...
 

Detailed Description

template<typename PointInT, typename PointOutT = pcl::PointUV>
class pcl::AgastKeypoint2D< PointInT, PointOutT >

Detects 2D AGAST corner points.

Based on the original work and paper reference by

Elmar Mair, Gregory D. Hager, Darius Burschka, Michael Suppa, and Gerhard Hirzinger. Adaptive and generic corner detection based on the accelerated segment test. In Proceedings of the European Conference on Computer Vision (ECCV'10), September 2010.

Code example:

agast.setThreshold (30);
agast.setInputCloud (cloud);
agast.compute (keypoints);
Note
The AGAST keypoint type used is 7_12s.
Author
Stefan Holzer, Radu B. Rusu

Definition at line 718 of file agast_2d.h.

Member Typedef Documentation

◆ PointCloudOut

template<typename PointInT , typename PointOutT = pcl::PointUV>
using pcl::AgastKeypoint2D< PointInT, PointOutT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 721 of file agast_2d.h.

Constructor & Destructor Documentation

◆ AgastKeypoint2D()

template<typename PointInT , typename PointOutT = pcl::PointUV>
pcl::AgastKeypoint2D< PointInT, PointOutT >::AgastKeypoint2D ( )
inline

Constructor.

Definition at line 735 of file agast_2d.h.

References pcl::Keypoint< PointInT, pcl::PointUV >::name_.

◆ ~AgastKeypoint2D()

template<typename PointInT , typename PointOutT = pcl::PointUV>
pcl::AgastKeypoint2D< PointInT, PointOutT >::~AgastKeypoint2D ( )
inline

Destructor.

Definition at line 741 of file agast_2d.h.

Member Function Documentation

◆ detectKeypoints()

template<typename PointInT , typename PointOutT >
void pcl::AgastKeypoint2D< PointInT, PointOutT >::detectKeypoints ( PointCloudOut output)
overrideprotected

Detects the keypoints.

Parameters
[out]outputthe resultant keypoints

Definition at line 68 of file agast_2d.hpp.


The documentation for this class was generated from the following files:
pcl::AgastKeypoint2D
Detects 2D AGAST corner points.
Definition: agast_2d.h:718
pcl::PointCloud< pcl::PointXYZRGBA >
pcl::Keypoint< PointInT, pcl::PointUV >::compute
void compute(PointCloudOut &output)
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...
Definition: keypoint.hpp:133
pcl::AgastKeypoint2DBase< PointInT, pcl::PointUV, pcl::common::IntensityFieldAccessor< PointInT > >::setThreshold
void setThreshold(const double threshold)
Sets the threshold for corner detection.
Definition: agast_2d.h:589