Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

Inheritance diagram for pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >:

Collaboration diagram for pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >:

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

Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
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 > &)>

Public Types inherited from pcl::PCLBase< PointInT >
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 ()

Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
	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...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	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...

Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
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...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
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...

Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT >
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...

Protected Attributes inherited from pcl::PCLBase< PointInT >
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...

Detailed Description

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >

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.

Note: This is an abstract base class. All children must implement a detectKeypoints method, based on the type of AGAST keypoint to be used.

Author: Stefan Holzer, Radu B. Rusu

Definition at line 556 of file agast_2d.h.

Member Typedef Documentation

◆ AgastDetectorPtr

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastDetectorPtr = pcl::keypoints::agast::AbstractAgastDetector::Ptr

Definition at line 564 of file agast_2d.h.

◆ KdTree

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree

Definition at line 561 of file agast_2d.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 559 of file agast_2d.h.

◆ PointCloudInConstPtr

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 562 of file agast_2d.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 560 of file agast_2d.h.

Constructor & Destructor Documentation

◆ AgastKeypoint2DBase()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastKeypoint2DBase ( )

inline

Constructor.

Definition at line 572 of file agast_2d.h.

References pcl::Keypoint< PointInT, PointOutT >::k_.

◆ ~AgastKeypoint2DBase()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::~AgastKeypoint2DBase ( )

overridedefault

Destructor.

Member Function Documentation

◆ detectKeypoints()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detectKeypoints ( PointCloudOut & output )

overrideprotectedpure virtual

Detects the keypoints.

Parameters

[out] output the resultant keypoints

◆ getAgastDetector()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

AgastDetectorPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getAgastDetector ( )

inline

Definition at line 654 of file agast_2d.h.

References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_.

◆ getMaxDataValue()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxDataValue ( )

inline

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_.

◆ getMaxKeypoints()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

unsigned int pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxKeypoints ( )

inline

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_.

◆ getNonMaxSuppression()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getNonMaxSuppression ( )

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_.

◆ getThreshold()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getThreshold ( )

inline

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_.

◆ initCompute()

template<typename PointInT , typename PointOutT , typename IntensityT >

bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::initCompute

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.

◆ setAgastDetector()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setAgastDetector ( const AgastDetectorPtr & detector )

inline

Definition at line 648 of file agast_2d.h.

References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_.

◆ setMaxDataValue()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setMaxDataValue ( const double bmax )

inline

Sets the max image data value (affects how many iterations AGAST does)

Parameters

[in] bmax the max image data value

Definition at line 619 of file agast_2d.h.

References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_.

◆ setMaxKeypoints()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setMaxKeypoints ( const unsigned int nr_max_keypoints )

inline

Sets the maximum number of keypoints to return.

The estimated keypoints are sorted by their internal score.

Parameters

[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_.

◆ setNonMaxSuppression()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setNonMaxSuppression ( const bool enabled )

inline

Sets whether non-max-suppression is applied or not.

Parameters

[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_.

◆ setThreshold()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setThreshold ( const double threshold )

inline

Sets the threshold for corner detection.

Parameters

[in] threshold the threshold used for corner detection.

Definition at line 586 of file agast_2d.h.

References pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_.

Member Data Documentation

◆ apply_non_max_suppression_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::apply_non_max_suppression_ {true}

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().

◆ bmax_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_ {255}

protected

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().

◆ detector_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

AgastDetectorPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_

protected

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().

◆ intensity_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

IntensityT pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::intensity_

protected

Intensity field accessor.

Definition at line 671 of file agast_2d.h.

◆ nr_max_keypoints_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

unsigned int pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::nr_max_keypoints_

protected

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().

◆ threshold_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_ {10}

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().

The documentation for this class was generated from the following files:

pcl/keypoints/agast_2d.h
pcl/keypoints/impl/agast_2d.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>> class pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >

Member Typedef Documentation

◆ AgastDetectorPtr

◆ KdTree

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudOut

Constructor & Destructor Documentation

◆ AgastKeypoint2DBase()

◆ ~AgastKeypoint2DBase()

Member Function Documentation

◆ detectKeypoints()

◆ getAgastDetector()

◆ getMaxDataValue()

◆ getMaxKeypoints()

◆ getNonMaxSuppression()

◆ getThreshold()

◆ initCompute()

◆ setAgastDetector()

◆ setMaxDataValue()

◆ setMaxKeypoints()

◆ setNonMaxSuppression()

◆ setThreshold()

Member Data Documentation

◆ apply_non_max_suppression_

◆ bmax_

◆ detector_

◆ intensity_

◆ nr_max_keypoints_

◆ threshold_

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >