pcl::keypoints::brisk::Layer Class Reference

A layer in the BRISK detector pyramid. More...

#include <pcl/keypoints/brisk_2d.h>

Classes
struct	CommonParams

Public Member Functions
	Layer (const std::vector< unsigned char > &img, int width, int height, float scale=1.0f, float offset=0.0f)
	Constructor. More...
	Layer (const Layer &layer, int mode)
	Copy constructor for deriving a layer. More...
void	getAgastPoints (std::uint8_t threshold, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &keypoints)
	AGAST keypoints without non-max suppression. More...
std::uint8_t	getAgastScore (int x, int y, std::uint8_t threshold)
	Get the AGAST keypoint score for a given pixel using a threshold. More...
std::uint8_t	getAgastScore_5_8 (int x, int y, std::uint8_t threshold)
	Get the AGAST keypoint score for a given pixel using a threshold. More...
std::uint8_t	getAgastScore (float xf, float yf, std::uint8_t threshold, float scale=1.0f)
	Get the AGAST keypoint score for a given pixel using a threshold. More...
std::uint8_t	getValue (const std::vector< unsigned char > &mat, int width, int height, float xf, float yf, float scale)
	Access gray values (smoothed/interpolated) More...
const std::vector< unsigned char > &	getImage () const
	Get the image used. More...
int	getImageWidth () const
	Get the width of the image used. More...
int	getImageHeight () const
	Get the height of the image used. More...
float	getScale () const
	Get the scale used. More...
float	getOffset () const
	Get the offset used. More...
const std::vector< unsigned char > &	getScores () const
	Get the scores obtained. More...

Detailed Description

A layer in the BRISK detector pyramid.

Definition at line 245 of file brisk_2d.h.

Constructor & Destructor Documentation

Layer() [1/2]

pcl::keypoints::brisk::Layer::Layer	(	const std::vector< unsigned char > &	img,
		int	width,
		int	height,
		float	scale = 1.0f,
		float	offset = 0.0f
	)

Constructor.

Parameters

[in]	img	input image
[in]	width	image width
[in]	height	image height
[in]	scale	scale
[in]	offset	offset

Layer() [2/2]

pcl::keypoints::brisk::Layer::Layer	(	const Layer &	layer,
		int	mode
	)

Copy constructor for deriving a layer.

Parameters

[in]	layer	layer to derive from
[in]	mode	deriving mode

Member Function Documentation

getAgastPoints()

void pcl::keypoints::brisk::Layer::getAgastPoints	(	std::uint8_t	threshold,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	keypoints
	)

AGAST keypoints without non-max suppression.

Parameters

[in]	threshold	the keypoints threshold
[out]	keypoints	the AGAST keypoints

getAgastScore() [1/2]

std::uint8_t pcl::keypoints::brisk::Layer::getAgastScore	(	float	xf,
		float	yf,
		std::uint8_t	threshold,
		float	scale = 1.0f
	)

Get the AGAST keypoint score for a given pixel using a threshold.

Parameters

[in]	xf	the X coordinate of the pixel
[in]	yf	the Y coordinate of the pixel
[in]	threshold	the threshold to use for cutting the response
[in]	scale	the scale

getAgastScore() [2/2]

std::uint8_t pcl::keypoints::brisk::Layer::getAgastScore	(	int	x,
		int	y,
		std::uint8_t	threshold
	)

Get the AGAST keypoint score for a given pixel using a threshold.

Parameters

[in]	x	the U coordinate of the pixel
[in]	y	the V coordinate of the pixel
[in]	threshold	the threshold to use for cutting the response

getAgastScore_5_8()

std::uint8_t pcl::keypoints::brisk::Layer::getAgastScore_5_8	(	int	x,
		int	y,
		std::uint8_t	threshold
	)

Get the AGAST keypoint score for a given pixel using a threshold.

Parameters

[in]	x	the U coordinate of the pixel
[in]	y	the V coordinate of the pixel
[in]	threshold	the threshold to use for cutting the response

getImage()

const std::vector<unsigned char>& pcl::keypoints::brisk::Layer::getImage ( ) const

inline

Get the image used.

Definition at line 317 of file brisk_2d.h.

getImageHeight()

int pcl::keypoints::brisk::Layer::getImageHeight ( ) const

inline

Get the height of the image used.

Definition at line 331 of file brisk_2d.h.

getImageWidth()

int pcl::keypoints::brisk::Layer::getImageWidth ( ) const

inline

Get the width of the image used.

Definition at line 324 of file brisk_2d.h.

getOffset()

float pcl::keypoints::brisk::Layer::getOffset ( ) const

inline

Get the offset used.

Definition at line 345 of file brisk_2d.h.

getScale()

float pcl::keypoints::brisk::Layer::getScale ( ) const

inline

Get the scale used.

Definition at line 338 of file brisk_2d.h.

getScores()

const std::vector<unsigned char>& pcl::keypoints::brisk::Layer::getScores ( ) const

inline

Get the scores obtained.

Definition at line 352 of file brisk_2d.h.

getValue()

std::uint8_t pcl::keypoints::brisk::Layer::getValue	(	const std::vector< unsigned char > &	mat,
		int	width,
		int	height,
		float	xf,
		float	yf,
		float	scale
	)

Access gray values (smoothed/interpolated)

Parameters

[in]	mat	the image
[in]	width	the image width
[in]	height	the image height
[in]	xf	the x coordinate
[in]	yf	the y coordinate
[in]	scale	the scale

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

• pcl/keypoints/brisk_2d.h