Detector class for AGAST corner point detector (7_12s). More...

#include <pcl/keypoints/agast_2d.h>

Inheritance diagram for pcl::keypoints::agast::AgastDetector7_12s:

Collaboration diagram for pcl::keypoints::agast::AgastDetector7_12s:

Public Types
using	Ptr = shared_ptr< AgastDetector7_12s >

using	ConstPtr = shared_ptr< const AgastDetector7_12s >

Public Types inherited from pcl::keypoints::agast::AbstractAgastDetector
using	Ptr = shared_ptr< AbstractAgastDetector >

using	ConstPtr = shared_ptr< const AbstractAgastDetector >

Public Member Functions
	AgastDetector7_12s (const std::size_t width, const std::size_t height, const double threshold, const double bmax=255)
	Constructor. More...

	~AgastDetector7_12s () override=default
	Destructor. More...

int	computeCornerScore (const unsigned char *im) const override
	Computes corner score. More...

int	computeCornerScore (const float *im) const override
	Computes corner score. More...

void	detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const override
	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 override
	Detects points of interest (i.e., keypoints) in the given image. More...

Public Member Functions inherited from pcl::keypoints::agast::AbstractAgastDetector
	AbstractAgastDetector (const std::size_t width, const std::size_t height, const double threshold, const double bmax)
	Constructor. More...

virtual	~AbstractAgastDetector ()=default
	Destructor. More...

void	detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const
	Detects corner points. More...

void	detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const
	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 number of keypoints to return, as set by the user. More...

Protected Member Functions
void	initPattern () override
	Initializes the sample pattern. More...

Protected Member Functions inherited from pcl::keypoints::agast::AbstractAgastDetector
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) const
	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) const
	Computes corner scores for the specified points. More...

Additional Inherited Members
Protected Attributes inherited from pcl::keypoints::agast::AbstractAgastDetector
std::size_t	width_
	Width of the image to process. More...

std::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...

Detailed Description

Detector class for AGAST corner point detector (7_12s).

Adapted from the C++ implementation of Elmar Mair (http://www6.in.tum.de/Main/ResearchAgast).

Author: Stefan Holzer

Definition at line 266 of file agast_2d.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::keypoints::agast::AgastDetector7_12s::ConstPtr = shared_ptr<const AgastDetector7_12s>

Definition at line 270 of file agast_2d.h.

◆ Ptr

using pcl::keypoints::agast::AgastDetector7_12s::Ptr = shared_ptr<AgastDetector7_12s>

Definition at line 269 of file agast_2d.h.

Constructor & Destructor Documentation

◆ AgastDetector7_12s()

pcl::keypoints::agast::AgastDetector7_12s::AgastDetector7_12s	(	const std::size_t	width,
		const std::size_t	height,
		const double	threshold,
		const double	bmax = `255`
	)

inline

Constructor.

Parameters

[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 278 of file agast_2d.h.

◆ ~AgastDetector7_12s()

pcl::keypoints::agast::AgastDetector7_12s::~AgastDetector7_12s ( )

overridedefault

Destructor.

Member Function Documentation

◆ computeCornerScore() [1/2]

int pcl::keypoints::agast::AgastDetector7_12s::computeCornerScore ( const float * im ) const

overridevirtual

Computes corner score.

Parameters

im

Implements pcl::keypoints::agast::AbstractAgastDetector.

◆ computeCornerScore() [2/2]

int pcl::keypoints::agast::AgastDetector7_12s::computeCornerScore ( const unsigned char * im ) const

overridevirtual

Computes corner score.

Parameters

im

Implements pcl::keypoints::agast::AbstractAgastDetector.

◆ detect() [1/2]

void pcl::keypoints::agast::AgastDetector7_12s::detect	(	const float *	im,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all
	)		const

overridevirtual

Detects points of interest (i.e., keypoints) in the given image.

Parameters

[in]	im	the image to detect keypoints in
[out]	corners_all	the resultant set of keypoints detected

Implements pcl::keypoints::agast::AbstractAgastDetector.

◆ detect() [2/2]

void pcl::keypoints::agast::AgastDetector7_12s::detect	(	const unsigned char *	im,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all
	)		const

overridevirtual

Detects points of interest (i.e., keypoints) in the given image.

Parameters

[in]	im	the image to detect keypoints in
[out]	corners_all	the resultant set of keypoints detected

Implements pcl::keypoints::agast::AbstractAgastDetector.

◆ initPattern()

void pcl::keypoints::agast::AgastDetector7_12s::initPattern ( )

overrideprotectedvirtual

Initializes the sample pattern.

Implements pcl::keypoints::agast::AbstractAgastDetector.

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

pcl/keypoints/agast_2d.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ AgastDetector7_12s()

◆ ~AgastDetector7_12s()

Member Function Documentation

◆ computeCornerScore() [1/2]

◆ computeCornerScore() [2/2]

◆ detect() [1/2]

◆ detect() [2/2]

◆ initPattern()