Detector class for AGAST corner point detector (OAST 9_16). More...

#include <agast_2d.h>

Inheritance diagram for pcl::keypoints::agast::OastDetector9_16:

Public Types
typedef boost::shared_ptr < const OastDetector9_16 >	ConstPtr
typedef boost::shared_ptr < OastDetector9_16 >	Ptr
Public Member Functions
int	computeCornerScore (const unsigned char *im) const
	Computes corner score.
int	computeCornerScore (const float *im) const
	Computes corner score.
void	detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const
	Detects points of interest (i.e., keypoints) in the given image.
void	detect (const float *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const
	Detects points of interest (i.e., keypoints) in the given image.
	OastDetector9_16 (const size_t width, const size_t height, const double threshold, const double bmax=255)
	Constructor.
	~OastDetector9_16 ()
	Destructor.
Protected Member Functions
void	initPattern ()
	Initializes the sample pattern.
Private Attributes
int_fast16_t	s_offset0_
int_fast16_t	s_offset10_
int_fast16_t	s_offset11_
int_fast16_t	s_offset12_
int_fast16_t	s_offset13_
int_fast16_t	s_offset14_
int_fast16_t	s_offset15_
int_fast16_t	s_offset1_
int_fast16_t	s_offset2_
int_fast16_t	s_offset3_
int_fast16_t	s_offset4_
int_fast16_t	s_offset5_
int_fast16_t	s_offset6_
int_fast16_t	s_offset7_
int_fast16_t	s_offset8_
int_fast16_t	s_offset9_
Static Private Attributes
static const int	border_width_ = 3
	Border width.

Detailed Description

Detector class for AGAST corner point detector (OAST 9_16).

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

Definition at line 426 of file agast_2d.h.

Member Typedef Documentation

Definition at line 430 of file agast_2d.h.

Definition at line 429 of file agast_2d.h.

pcl::keypoints::agast::OastDetector9_16::OastDetector9_16	(	const size_t	width,
		const 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 438 of file agast_2d.h.

pcl::keypoints::agast::OastDetector9_16::~OastDetector9_16 ( ) [inline]

Destructor.

Definition at line 448 of file agast_2d.h.

int pcl::keypoints::agast::OastDetector9_16::computeCornerScore ( const unsigned char * im ) const [virtual]

Computes corner score.

Parameters:

im

Definition at line 13757 of file agast_2d.cpp.

int pcl::keypoints::agast::OastDetector9_16::computeCornerScore ( const float * im ) const [virtual]

Computes corner score.

Parameters:

im

Definition at line 13781 of file agast_2d.cpp.

void pcl::keypoints::agast::OastDetector9_16::detect	(	const unsigned char *	im,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all
	)		const `[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

Definition at line 13707 of file agast_2d.cpp.

void pcl::keypoints::agast::OastDetector9_16::detect	(	const float *	im,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all
	)		const `[virtual]`