Detects 2D AGAST corner points. More...
#include <pcl/keypoints/agast_2d.h>
Inheritance diagram for pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >:
Public Member Functions | |
| AgastKeypoint2D () | |
| Constructor. | |
| virtual | ~AgastKeypoint2D () |
| Destructor. | |
| Public Member Functions inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > > | |
| 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< pcl::PointXYZ, pcl::PointUV > | |
| 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< pcl::PointXYZ > | |
| 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 pcl::PointXYZ & | operator[] (size_t pos) const |
| Override PointCloud operator[] to shorten code. | |
Protected Member Functions | |
| virtual void | detectKeypoints (pcl::PointCloud< pcl::PointUV > &output) |
| Detects the keypoints. | |
| Protected Member Functions inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > > | |
| bool | initCompute () |
| Initializes everything and checks whether input data is fine. | |
| virtual void | detectKeypoints (PointCloudOut &output)=0 |
| Detects the keypoints. | |
| Protected Member Functions inherited from pcl::Keypoint< pcl::PointXYZ, pcl::PointUV > | |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. | |
| Protected Member Functions inherited from pcl::PCLBase< pcl::PointXYZ > | |
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. | |
Detailed Description
template<>
class pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >
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:
agast.setThreshold (30);
agast.setInputCloud (cloud);
PointCloud<pcl::PointUV> keypoints;
agast.compute (keypoints);
- Note
- This is a specialized version for PointXYZ clouds, and operates on depth (z) as float. The output keypoints are of the PointXY type.
- The AGAST keypoint type used is 7_12s.
Definition at line 813 of file agast_2d.h.
Constructor & Destructor Documentation
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inline |
Constructor.
Definition at line 818 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >::bmax_, and pcl::Keypoint< PointInT, PointOutT >::name_.
|
inlinevirtual |
Destructor.
Definition at line 825 of file agast_2d.h.
Member Function Documentation
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protectedvirtual |
Detects the keypoints.
- Parameters
-
[out] output the resultant keypoints
Implements pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >.
The documentation for this class was generated from the following file:
- /tmp/buildd/pcl-1.7.2/keypoints/include/pcl/keypoints/agast_2d.h