Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

Inheritance diagram for pcl::AgastKeypoint2D< PointInT, PointOutT >:

Public Types
typedef Keypoint< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Types inherited from pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >
typedef Keypoint< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Keypoint< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef Keypoint< PointInT, PointOutT >::KdTree	KdTree
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef pcl::keypoints::agast::AbstractAgastDetector::Ptr	AgastDetectorPtr
Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
typedef boost::shared_ptr < Keypoint< PointInT, PointOutT > >	Ptr
typedef boost::shared_ptr < const Keypoint< PointInT, PointOutT > >	ConstPtr
typedef PCLBase< PointInT >	BaseClass
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef pcl::PointCloud < PointOutT >	PointCloudOut
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)>	SearchMethod
typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>	SearchMethodSurface
Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef boost::shared_ptr < PointIndices >	PointIndicesPtr
typedef boost::shared_ptr < PointIndices const >	PointIndicesConstPtr

Public Member Functions
	AgastKeypoint2D ()
	Constructor.
virtual	~AgastKeypoint2D ()
	Destructor.
Public Member Functions inherited from pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >
	AgastKeypoint2DBase ()
	Constructor.
virtual	~AgastKeypoint2DBase ()
	Destructor.
void	setThreshold (const double threshold)
	Sets the threshold for corner detection.
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.
unsigned int	getMaxKeypoints ()
	Get the maximum nuber of keypoints to return, as set by the user.
void	setMaxDataValue (const double bmax)
	Sets the max image data value (affects how many iterations AGAST does)
double	getMaxDataValue ()
	Get the bmax image value, as set by the user.
void	setNonMaxSuppression (const bool enabled)
	Sets whether non-max-suppression is applied or not.
bool	getNonMaxSuppression ()
	Returns whether non-max-suppression is applied or not.
void	setAgastDetector (const AgastDetectorPtr &detector)
AgastDetectorPtr	getAgastDetector ()
Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
	Keypoint ()
	Empty constructor.
virtual	~Keypoint ()
	Empty destructor.
virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for.
PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
double	getSearchParameter ()
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors.
pcl::PointIndicesConstPtr	getKeypointsIndices ()
void	compute (PointCloudOut &output)
	Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
int	searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
virtual void	detectKeypoints (PointCloudOut &output)
	Detects the keypoints.
Protected Member Functions inherited from pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >
bool	initCompute ()
	Initializes everything and checks whether input data is fine.
Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Additional Inherited Members
Protected Attributes inherited from pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >
pcl::common::IntensityFieldAccessor < PointInT >	intensity_
	Intensity field accessor.
double	threshold_
	Threshold for corner detection.
bool	apply_non_max_suppression_
	Determines whether non-max-suppression is activated.
double	bmax_
	Max image value.
AgastDetectorPtr	detector_
	The Agast detector to use.
unsigned int	nr_max_keypoints_
	The maximum number of keypoints to return.

Detailed Description

template<typename PointInT, typename PointOutT = pcl::PointUV>
class pcl::AgastKeypoint2D< PointInT, PointOutT >

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.

Code example:

pcl::PointCloud<pcl::PointXYZRGBA> cloud;
pcl::AgastKeypoint2D<pcl::PointXYZRGBA> agast;
agast.setThreshold (30);
agast.setInputCloud (cloud);
PointCloud<pcl::PointUV> keypoints;
agast.compute (keypoints);

Note: The AGAST keypoint type used is 7_12s.

Author: Stefan Holzer, Radu B. Rusu

Definition at line 751 of file agast_2d.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT = pcl::PointUV>

typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::AgastKeypoint2D< PointInT, PointOutT >::PointCloudOut

Definition at line 754 of file agast_2d.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT = pcl::PointUV>

pcl::AgastKeypoint2D< PointInT, PointOutT >::AgastKeypoint2D ( )

inline

Constructor.

Definition at line 768 of file agast_2d.h.

References pcl::Keypoint< PointInT, PointOutT >::name_.

template<typename PointInT, typename PointOutT = pcl::PointUV>

virtual pcl::AgastKeypoint2D< PointInT, PointOutT >::~AgastKeypoint2D ( )

inlinevirtual

Destructor.

Definition at line 774 of file agast_2d.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::AgastKeypoint2D< PointInT, PointOutT >::detectKeypoints ( PointCloudOut & output )

protectedvirtual

Detects the keypoints.

Parameters

[out] output the resultant keypoints

Implements pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >.

Definition at line 65 of file agast_2d.hpp.

References pcl::PointCloud< PointT >::is_dense.

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

/tmp/buildd/pcl-1.7.2/keypoints/include/pcl/keypoints/agast_2d.h
/tmp/buildd/pcl-1.7.2/keypoints/include/pcl/keypoints/impl/agast_2d.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointInT, typename PointOutT = pcl::PointUV> class pcl::AgastKeypoint2D< PointInT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename PointOutT = pcl::PointUV>
class pcl::AgastKeypoint2D< PointInT, PointOutT >