Detects 2D AGAST corner points. Based on the original work and paper reference by. More...
#include <agast_2d.h>
Public Types | |
| typedef pcl::keypoints::agast::AbstractAgastDetector::Ptr | AgastDetectorPtr |
| typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
| typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
Public Member Functions | |
| AgastKeypoint2DBase () | |
| Constructor. | |
| AgastDetectorPtr | getAgastDetector () |
| double | getMaxDataValue () |
| Get the bmax image value, as set by the user. | |
| unsigned int | getMaxKeypoints () |
| Get the maximum nuber of keypoints to return, as set by the user. | |
| bool | getNonMaxSuppression () |
| Returns whether non-max-suppression is applied or not. | |
| double | getThreshold () |
| Get the threshold for corner detection, as set by the user. | |
| void | setAgastDetector (const AgastDetectorPtr &detector) |
| void | setMaxDataValue (const double bmax) |
| Sets the max image data value (affects how many iterations AGAST does) | |
| void | setMaxKeypoints (const unsigned int nr_max_keypoints) |
| Sets the maximum number of keypoints to return. The estimated keypoints are sorted by their internal score. | |
| void | setNonMaxSuppression (const bool enabled) |
| Sets whether non-max-suppression is applied or not. | |
| void | setThreshold (const double threshold) |
| Sets the threshold for corner detection. | |
| virtual | ~AgastKeypoint2DBase () |
| Destructor. | |
Protected Member Functions | |
| virtual void | detectKeypoints (PointCloudOut &output)=0 |
| Detects the keypoints. | |
| bool | initCompute () |
| Initializes everything and checks whether input data is fine. | |
Protected Attributes | |
| bool | apply_non_max_suppression_ |
| Determines whether non-max-suppression is activated. | |
| double | bmax_ |
| Max image value. | |
| AgastDetectorPtr | detector_ |
| The Agast detector to use. | |
| IntensityT | intensity_ |
| Intensity field accessor. | |
| unsigned int | nr_max_keypoints_ |
| The maximum number of keypoints to return. | |
| double | threshold_ |
| Threshold for corner detection. | |
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.
Definition at line 589 of file agast_2d.h.
Member Typedef Documentation
| typedef pcl::keypoints::agast::AbstractAgastDetector::Ptr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastDetectorPtr |
Definition at line 597 of file agast_2d.h.
| typedef Keypoint<PointInT, PointOutT>::KdTree pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::KdTree |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 594 of file agast_2d.h.
| typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudIn |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 592 of file agast_2d.h.
| typedef PointCloudIn::ConstPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 595 of file agast_2d.h.
| typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudOut |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Reimplemented in pcl::AgastKeypoint2D< PointInT, PointOutT >.
Definition at line 593 of file agast_2d.h.
Constructor & Destructor Documentation
| pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastKeypoint2DBase | ( | ) | [inline] |
Constructor.
Definition at line 605 of file agast_2d.h.
| virtual pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::~AgastKeypoint2DBase | ( | ) | [inline, virtual] |
Destructor.
Definition at line 616 of file agast_2d.h.
Member Function Documentation
| virtual void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detectKeypoints | ( | PointCloudOut & | output | ) | [protected, pure virtual] |
Detects the keypoints.
- Parameters:
-
[out] output the resultant keypoints
Implements pcl::Keypoint< PointInT, PointOutT >.
Implemented in pcl::AgastKeypoint2D< PointInT, PointOutT >.
| AgastDetectorPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getAgastDetector | ( | ) | [inline] |
Definition at line 692 of file agast_2d.h.
| double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxDataValue | ( | ) | [inline] |
Get the bmax image value, as set by the user.
Definition at line 664 of file agast_2d.h.
| unsigned int pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxKeypoints | ( | ) | [inline] |
Get the maximum nuber of keypoints to return, as set by the user.
Definition at line 648 of file agast_2d.h.
| bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getNonMaxSuppression | ( | ) | [inline] |
Returns whether non-max-suppression is applied or not.
Definition at line 680 of file agast_2d.h.
| double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getThreshold | ( | ) | [inline] |
Get the threshold for corner detection, as set by the user.
Definition at line 631 of file agast_2d.h.
| bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::initCompute | ( | ) | [protected, virtual] |
Initializes everything and checks whether input data is fine.
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 46 of file agast_2d.hpp.
| void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setAgastDetector | ( | const AgastDetectorPtr & | detector | ) | [inline] |
Definition at line 686 of file agast_2d.h.
| 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 657 of file agast_2d.h.
| 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 641 of file agast_2d.h.
| 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 673 of file agast_2d.h.
| 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 624 of file agast_2d.h.
Member Data Documentation
bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::apply_non_max_suppression_ [protected] |
Determines whether non-max-suppression is activated.
Definition at line 715 of file agast_2d.h.
double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_ [protected] |
Max image value.
Definition at line 718 of file agast_2d.h.
AgastDetectorPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_ [protected] |
The Agast detector to use.
Definition at line 721 of file agast_2d.h.
IntensityT pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::intensity_ [protected] |
Intensity field accessor.
Definition at line 709 of file agast_2d.h.
unsigned int pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::nr_max_keypoints_ [protected] |
The maximum number of keypoints to return.
Definition at line 724 of file agast_2d.h.
double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_ [protected] |
Threshold for corner detection.
Definition at line 712 of file agast_2d.h.
The documentation for this class was generated from the following files: