BRISK Scale Space helper. More...

#include <pcl/keypoints/brisk_2d.h>

Collaboration diagram for pcl::keypoints::brisk::ScaleSpace:

Public Member Functions
	ScaleSpace (int octaves=3)
	Constructor. More...

	~ScaleSpace ()

void	constructPyramid (const std::vector< unsigned char > &image, int width, int height)
	Construct the image pyramids. More...

void	getKeypoints (const int threshold, std::vector< pcl::PointWithScale, Eigen::aligned_allocator< pcl::PointWithScale > > &keypoints)
	Get the keypoints for the associated image and threshold. More...

Protected Member Functions
bool	isMax2D (const std::uint8_t layer, const int x_layer, const int y_layer)
	Nonmax suppression. More...

float	refine1D (const float s_05, const float s0, const float s05, float &max)
	1D (scale axis) refinement: around octave More...

float	refine1D_1 (const float s_05, const float s0, const float s05, float &max)
	1D (scale axis) refinement: around intra More...

float	refine1D_2 (const float s_05, const float s0, const float s05, float &max)
	1D (scale axis) refinement: around octave 0 only More...

float	subpixel2D (const int s_0_0, const int s_0_1, const int s_0_2, const int s_1_0, const int s_1_1, const int s_1_2, const int s_2_0, const int s_2_1, const int s_2_2, float &delta_x, float &delta_y)
	2D maximum refinement More...

float	refine3D (const std::uint8_t layer, const int x_layer, const int y_layer, float &x, float &y, float &scale, bool &ismax)
	3D maximum refinement centered around (x_layer,y_layer) More...

int	getScoreAbove (const std::uint8_t layer, const int x_layer, const int y_layer)
	interpolated score access with recalculation when needed More...

int	getScoreBelow (const std::uint8_t layer, const int x_layer, const int y_layer)

float	getScoreMaxAbove (const std::uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool &ismax, float &dx, float &dy)
	return the maximum of score patches above or below More...

float	getScoreMaxBelow (const std::uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool &ismax, float &dx, float &dy)

Protected Attributes
std::uint8_t	layers_

std::vector< pcl::keypoints::brisk::Layer >	pyramid_

std::uint8_t	threshold_

std::uint8_t	safe_threshold_

float	safety_factor_ {1.0}

float	basic_size_ {12.0}

Detailed Description

BRISK Scale Space helper.

Definition at line 390 of file brisk_2d.h.

Constructor & Destructor Documentation

◆ ScaleSpace()

pcl::keypoints::brisk::ScaleSpace::ScaleSpace ( int octaves = 3 )

Constructor.

Specify the number of octaves.

Parameters

[in] octaves the number of octaves (default: 3)

◆ ~ScaleSpace()

pcl::keypoints::brisk::ScaleSpace::~ScaleSpace ( )

Member Function Documentation

◆ constructPyramid()

void pcl::keypoints::brisk::ScaleSpace::constructPyramid	(	const std::vector< unsigned char > &	image,
		int	width,
		int	height
	)

Construct the image pyramids.

Parameters

[in]	image	the image to construct pyramids for
[in]	width	the image width
[in]	height	the image height

Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints().

◆ getKeypoints()

void pcl::keypoints::brisk::ScaleSpace::getKeypoints	(	const int	threshold,
		std::vector< pcl::PointWithScale, Eigen::aligned_allocator< pcl::PointWithScale > > &	keypoints
	)

Get the keypoints for the associated image and threshold.

Parameters

[in]	threshold	the threshold for the keypoints
[out]	keypoints	the resultant list of keypoints

Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints().

◆ getScoreAbove()

int pcl::keypoints::brisk::ScaleSpace::getScoreAbove	(	const std::uint8_t	layer,
		const int	x_layer,
		const int	y_layer
	)

inlineprotected

interpolated score access with recalculation when needed

◆ getScoreBelow()

int pcl::keypoints::brisk::ScaleSpace::getScoreBelow	(	const std::uint8_t	layer,
		const int	x_layer,
		const int	y_layer
	)

inlineprotected

◆ getScoreMaxAbove()

float pcl::keypoints::brisk::ScaleSpace::getScoreMaxAbove	(	const std::uint8_t	layer,
		const int	x_layer,
		const int	y_layer,
		const int	threshold,
		bool &	ismax,
		float &	dx,
		float &	dy
	)

inlineprotected

return the maximum of score patches above or below

◆ getScoreMaxBelow()

float pcl::keypoints::brisk::ScaleSpace::getScoreMaxBelow	(	const std::uint8_t	layer,
		const int	x_layer,
		const int	y_layer,
		const int	threshold,
		bool &	ismax,
		float &	dx,
		float &	dy
	)

inlineprotected

◆ isMax2D()

bool pcl::keypoints::brisk::ScaleSpace::isMax2D	(	const std::uint8_t	layer,
		const int	x_layer,
		const int	y_layer
	)

inlineprotected

Nonmax suppression.

◆ refine1D()

float pcl::keypoints::brisk::ScaleSpace::refine1D	(	const float	s_05,
		const float	s0,
		const float	s05,
		float &	max
	)

inlineprotected

1D (scale axis) refinement: around octave

◆ refine1D_1()

float pcl::keypoints::brisk::ScaleSpace::refine1D_1	(	const float	s_05,
		const float	s0,
		const float	s05,
		float &	max
	)

inlineprotected

1D (scale axis) refinement: around intra

◆ refine1D_2()

float pcl::keypoints::brisk::ScaleSpace::refine1D_2	(	const float	s_05,
		const float	s0,
		const float	s05,
		float &	max
	)

inlineprotected

1D (scale axis) refinement: around octave 0 only

◆ refine3D()

float pcl::keypoints::brisk::ScaleSpace::refine3D	(	const std::uint8_t	layer,
		const int	x_layer,
		const int	y_layer,
		float &	x,
		float &	y,
		float &	scale,
		bool &	ismax
	)

inlineprotected

3D maximum refinement centered around (x_layer,y_layer)

◆ subpixel2D()

float pcl::keypoints::brisk::ScaleSpace::subpixel2D	(	const int	s_0_0,
		const int	s_0_1,
		const int	s_0_2,
		const int	s_1_0,
		const int	s_1_1,
		const int	s_1_2,
		const int	s_2_0,
		const int	s_2_1,
		const int	s_2_2,
		float &	delta_x,
		float &	delta_y
	)

inlineprotected

2D maximum refinement

Member Data Documentation

◆ basic_size_

float pcl::keypoints::brisk::ScaleSpace::basic_size_ {12.0}

protected

Definition at line 476 of file brisk_2d.h.

◆ layers_

std::uint8_t pcl::keypoints::brisk::ScaleSpace::layers_

protected

Definition at line 467 of file brisk_2d.h.

◆ pyramid_

std::vector<pcl::keypoints::brisk::Layer> pcl::keypoints::brisk::ScaleSpace::pyramid_

protected

Definition at line 468 of file brisk_2d.h.

◆ safe_threshold_

std::uint8_t pcl::keypoints::brisk::ScaleSpace::safe_threshold_

protected

Definition at line 472 of file brisk_2d.h.

◆ safety_factor_

float pcl::keypoints::brisk::ScaleSpace::safety_factor_ {1.0}

protected

Definition at line 475 of file brisk_2d.h.

◆ threshold_

std::uint8_t pcl::keypoints::brisk::ScaleSpace::threshold_

protected

Definition at line 471 of file brisk_2d.h.

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

pcl/keypoints/brisk_2d.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ScaleSpace()

◆ ~ScaleSpace()

Member Function Documentation

◆ constructPyramid()

◆ getKeypoints()

◆ getScoreAbove()

◆ getScoreBelow()

◆ getScoreMaxAbove()

◆ getScoreMaxBelow()

◆ isMax2D()

◆ refine1D()

◆ refine1D_1()

◆ refine1D_2()

◆ refine3D()

◆ subpixel2D()

Member Data Documentation

◆ basic_size_

◆ layers_

◆ pyramid_

◆ safe_threshold_

◆ safety_factor_

◆ threshold_