Abstract detector class for AGAST corner point detectors. More...

#include <agast_2d.h>

Inheritance diagram for pcl::keypoints::agast::AbstractAgastDetector:

Classes
struct	CompareScoreIndex
	Score index comparator. More...
struct	ScoreIndex
	Structure holding an index and the associated keypoint score. More...
Public Types
typedef boost::shared_ptr < const AbstractAgastDetector >	ConstPtr
typedef boost::shared_ptr < AbstractAgastDetector >	Ptr
Public Member Functions
	AbstractAgastDetector (const size_t width, const size_t height, const double threshold, const double bmax)
	Constructor.
void	applyNonMaxSuppression (const std::vector< unsigned char > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output)
	Applies non-max-suppression.
void	applyNonMaxSuppression (const std::vector< float > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output)
	Applies non-max-suppression.
virtual int	computeCornerScore (const unsigned char *im) const =0
	Computes corner score.
virtual int	computeCornerScore (const float *im) const =0
	Computes corner score.
virtual void	detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const =0
	Detects points of interest (i.e., keypoints) in the given image.
virtual void	detect (const float *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &) const =0
	Detects points of interest (i.e., keypoints) in the given image.
void	detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output)
	Detects corner points.
void	detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output)
	Detects corner points.
unsigned int	getMaxKeypoints ()
	Get the maximum nuber of keypoints to return, as set by the user.
double	getThreshold ()
	Get the threshold for corner detection, as set by the user.
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	setThreshold (const double threshold)
	Sets the threshold for corner detection.
virtual	~AbstractAgastDetector ()
	Destructor.
Protected Member Functions
void	applyNonMaxSuppression (const pcl::PointCloud< pcl::PointUV > &input, const std::vector< ScoreIndex > &scores, pcl::PointCloud< pcl::PointUV > &output)
	Non-max-suppression helper method.
void	computeCornerScores (const unsigned char *im, const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all, std::vector< ScoreIndex > &scores)
	Computes corner scores for the specified points.
void	computeCornerScores (const float *im, const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all, std::vector< ScoreIndex > &scores)
	Computes corner scores for the specified points.
virtual void	initPattern ()=0
	Initializes the sample pattern.
Protected Attributes
double	bmax_
	Max image value.
size_t	height_
	Height of the image to process.
unsigned int	nr_max_keypoints_
	The maximum number of keypoints to return.
double	threshold_
	Threshold for corner detection.
size_t	width_
	Width of the image to process.

Detailed Description

Abstract detector class for AGAST corner point detectors.

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

Author:: Stefan Holzer

Definition at line 62 of file agast_2d.h.

Member Typedef Documentation

typedef boost::shared_ptr<const AbstractAgastDetector> pcl::keypoints::agast::AbstractAgastDetector::ConstPtr

Reimplemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.

Definition at line 66 of file agast_2d.h.

typedef boost::shared_ptr<AbstractAgastDetector> pcl::keypoints::agast::AbstractAgastDetector::Ptr

Reimplemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.

Definition at line 65 of file agast_2d.h.

Constructor & Destructor Documentation

pcl::keypoints::agast::AbstractAgastDetector::AbstractAgastDetector	(	const size_t	width,
		const size_t	height,
		const double	threshold,
		const double	bmax
	)		`[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 74 of file agast_2d.h.

virtual pcl::keypoints::agast::AbstractAgastDetector::~AbstractAgastDetector ( ) [inline, virtual]

Destructor.

Definition at line 86 of file agast_2d.h.

Member Function Documentation

void pcl::keypoints::agast::AbstractAgastDetector::applyNonMaxSuppression	(	const std::vector< unsigned char > &	intensity_data,
		const pcl::PointCloud< pcl::PointUV > &	input,
		pcl::PointCloud< pcl::PointUV > &	output
	)

Applies non-max-suppression.

Parameters:

[in]	intensity_data	the image data
[in]	input	the keypoint positions
[out]	output	the resultant keypoints after non-max-supression

Definition at line 245 of file agast_2d.cpp.

void pcl::keypoints::agast::AbstractAgastDetector::applyNonMaxSuppression	(	const std::vector< float > &	intensity_data,
		const pcl::PointCloud< pcl::PointUV > &	input,
		pcl::PointCloud< pcl::PointUV > &	output
	)

Applies non-max-suppression.

Parameters:

[in]	intensity_data	the image data
[in]	input	the keypoint positions
[out]	output	the resultant keypoints after non-max-supression

Definition at line 273 of file agast_2d.cpp.

void pcl::keypoints::agast::AbstractAgastDetector::applyNonMaxSuppression	(	const pcl::PointCloud< pcl::PointUV > &	input,
		const std::vector< ScoreIndex > &	scores,
		pcl::PointCloud< pcl::PointUV > &	output
	)		`[protected]`

Non-max-suppression helper method.

Parameters:

[in]	input	the keypoint positions
[in]	scores	the keypoint scores computed on the image data
[out]	output	the resultant keypoints after non-max-supression

Definition at line 104 of file agast_2d.cpp.

virtual int pcl::keypoints::agast::AbstractAgastDetector::computeCornerScore ( const unsigned char * im ) const [pure virtual]

Computes corner score.

Parameters:

[in] im the pixels to compute the score at

Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.

virtual int pcl::keypoints::agast::AbstractAgastDetector::computeCornerScore ( const float * im ) const [pure virtual]

Computes corner score.

Parameters:

[in]	im	the pixels to compute the score at
[in]	bmax

Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.

void pcl::keypoints::agast::AbstractAgastDetector::computeCornerScores	(	const unsigned char *	im,
		const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all,
		std::vector< ScoreIndex > &	scores
	)		`[protected]`

Computes corner scores for the specified points.

Parameters:

im
corners_all
scores

Definition at line 301 of file agast_2d.cpp.

void pcl::keypoints::agast::AbstractAgastDetector::computeCornerScores	(	const float *	im,
		const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all,
		std::vector< ScoreIndex > &	scores
	)		`[protected]`

Computes corner scores for the specified points.

Parameters:

im
corners_all
scores

Definition at line 332 of file agast_2d.cpp.

virtual void pcl::keypoints::agast::AbstractAgastDetector::detect	(	const unsigned char *	im,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all
	)		const `[pure virtual]`

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

Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.

virtual void pcl::keypoints::agast::AbstractAgastDetector::detect	(	const float *	im,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &
	)		const `[pure virtual]`

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

Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.

void pcl::keypoints::agast::AbstractAgastDetector::detectKeypoints	(	const std::vector< unsigned char > &	intensity_data,
		pcl::PointCloud< pcl::PointUV > &	output
	)

Detects corner points.

Parameters:

intensity_data
output

Definition at line 80 of file agast_2d.cpp.

void pcl::keypoints::agast::AbstractAgastDetector::detectKeypoints	(	const std::vector< float > &	intensity_data,
		pcl::PointCloud< pcl::PointUV > &	output
	)

Detects corner points.

Parameters:

intensity_data
output

Definition at line 92 of file agast_2d.cpp.

unsigned int pcl::keypoints::agast::AbstractAgastDetector::getMaxKeypoints ( ) [inline]

Get the maximum nuber of keypoints to return, as set by the user.

Definition at line 165 of file agast_2d.h.

double pcl::keypoints::agast::AbstractAgastDetector::getThreshold ( ) [inline]

Get the threshold for corner detection, as set by the user.

Definition at line 148 of file agast_2d.h.

virtual void pcl::keypoints::agast::AbstractAgastDetector::initPattern ( ) [protected, pure virtual]

Initializes the sample pattern.

Implemented in pcl::keypoints::agast::OastDetector9_16, pcl::keypoints::agast::AgastDetector5_8, and pcl::keypoints::agast::AgastDetector7_12s.

void pcl::keypoints::agast::AbstractAgastDetector::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 158 of file agast_2d.h.

void pcl::keypoints::agast::AbstractAgastDetector::setThreshold ( const double threshold ) [inline]

Sets the threshold for corner detection.

Parameters:

[in] threshold the threshold used for corner detection.

Definition at line 141 of file agast_2d.h.

Member Data Documentation

double pcl::keypoints::agast::AbstractAgastDetector::bmax_ [protected]

Max image value.

Definition at line 255 of file agast_2d.h.

size_t pcl::keypoints::agast::AbstractAgastDetector::height_ [protected]

Height of the image to process.

Definition at line 246 of file agast_2d.h.

unsigned int pcl::keypoints::agast::AbstractAgastDetector::nr_max_keypoints_ [protected]

The maximum number of keypoints to return.

Definition at line 252 of file agast_2d.h.

double pcl::keypoints::agast::AbstractAgastDetector::threshold_ [protected]

Threshold for corner detection.

Definition at line 249 of file agast_2d.h.

size_t pcl::keypoints::agast::AbstractAgastDetector::width_ [protected]

Width of the image to process.

Definition at line 244 of file agast_2d.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation