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/PointCloudLibrary

Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

Public Types

using PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn
using PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut
using KdTree = typename Keypoint< PointInT, PointOutT >::KdTree
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using AgastDetectorPtr = pcl::keypoints::agast::AbstractAgastDetector::Ptr
- Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
using Ptr = shared_ptr< Keypoint< PointInT, PointOutT > >
using ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > >
using BaseClass = PCLBase< PointInT >
using KdTree = pcl::search::Search< PointInT >
using KdTreePtr = typename KdTree::Ptr
using PointCloudIn = pcl::PointCloud< PointInT >
using PointCloudInPtr = typename PointCloudIn::Ptr
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using PointCloudOut = pcl::PointCloud< PointOutT >
using SearchMethod = std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)>
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)>

Public Member Functions

AgastKeypoint2DBase ()
Constructor. More...
~AgastKeypoint2DBase ()
Destructor. More...
void setThreshold (const double threshold)
Sets the threshold for corner detection. More...
double getThreshold ()
Get the threshold for corner detection, as set by the user. More...
void setMaxKeypoints (const unsigned int nr_max_keypoints)
Sets the maximum number of keypoints to return. More...
unsigned int getMaxKeypoints ()
Get the maximum number of keypoints to return, as set by the user. More...
void setMaxDataValue (const double bmax)
Sets the max image data value (affects how many iterations AGAST does) More...
double getMaxDataValue ()
Get the bmax image value, as set by the user. More...
void setNonMaxSuppression (const bool enabled)
Sets whether non-max-suppression is applied or not. More...
bool getNonMaxSuppression ()
Returns whether non-max-suppression is applied or not. More...
void setAgastDetector (const AgastDetectorPtr &detector)
AgastDetectorPtr getAgastDetector ()
- Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
Keypoint ()
Keypoint ()
Empty constructor. More...
void harrisCorner (PointInT &output, PointInT &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
void hessianBlob (PointInT &output, PointInT &input, const float sigma, bool SCALE)
void hessianBlob (PointInT &output, PointInT &input, const float start_scale, const float scaling_factor, const int num_scales)
void imageElementMultiply (PointInT &output, PointInT &input1, PointInT &input2)
~Keypoint ()
Empty destructor. More...
virtual void setSearchSurface (const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for. More...
PointCloudInConstPtr getSearchSurface ()
Get a pointer to the surface point cloud dataset. More...
void setSearchMethod (const KdTreePtr &tree)
Provide a pointer to the search object. More...
KdTreePtr getSearchMethod ()
Get a pointer to the search method used. More...
double getSearchParameter ()
Get the internal search parameter. More...
void setKSearch (int k)
Set the number of k nearest neighbors to use for the feature estimation. More...
int getKSearch ()
get the number of k nearest neighbors used for the feature estimation. More...
void setRadiusSearch (double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More...
double getRadiusSearch ()
Get the sphere radius used for determining the neighbors. More...
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 () More...
int searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Protected Member Functions

bool initCompute () override
Initializes everything and checks whether input data is fine. More...
void detectKeypoints (PointCloudOut &output) override=0
Detects the keypoints. More...
- Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
virtual void detectKeypoints (PointCloudOut &output)=0
Abstract key point detection method. More...

Protected Attributes

IntensityT intensity_
Intensity field accessor. More...
double threshold_
Threshold for corner detection. More...
bool apply_non_max_suppression_
Determines whether non-max-suppression is activated. More...
double bmax_
Max image value. More...
AgastDetectorPtr detector_
The Agast detector to use. More...
unsigned int nr_max_keypoints_
The maximum number of keypoints to return. More...
- Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT >
std::string name_
The key point detection method's name. More...
SearchMethod search_method_
The search method template for indices. More...
SearchMethodSurface search_method_surface_
The search method template for points. More...
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
KdTreePtr tree_
A pointer to the spatial search object. More...
double search_parameter_
The actual search parameter (casted from either search_radius_ or k_). More...
double search_radius_
The nearest neighbors search radius for each point. More...
int k_
The number of K nearest neighbors to use for each point. More...
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud. More...

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.
Author
Stefan Holzer, Radu B. Rusu

Definition at line 556 of file agast_2d.h.

Member Typedef Documentation

AgastDetectorPtr

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastDetectorPtr = pcl::keypoints::agast::AbstractAgastDetector::Ptr

Definition at line 564 of file agast_2d.h.

KdTree

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree

Definition at line 561 of file agast_2d.h.

PointCloudIn

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 559 of file agast_2d.h.

PointCloudInConstPtr

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 562 of file agast_2d.h.

PointCloudOut

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 560 of file agast_2d.h.

Constructor & Destructor Documentation

AgastKeypoint2DBase()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastKeypoint2DBase ( )
inline

Constructor.

Definition at line 572 of file agast_2d.h.

~AgastKeypoint2DBase()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::~AgastKeypoint2DBase ( )
inline

Destructor.

Definition at line 582 of file agast_2d.h.

Member Function Documentation

detectKeypoints()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detectKeypoints ( PointCloudOut & output )
overrideprotectedpure virtual

Detects the keypoints.

Parameters
[out] output the resultant keypoints

getAgastDetector()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
AgastDetectorPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getAgastDetector ( )
inline

Definition at line 658 of file agast_2d.h.

getMaxDataValue()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxDataValue ( )
inline

Get the bmax image value, as set by the user.

Definition at line 630 of file agast_2d.h.

getMaxKeypoints()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
unsigned int pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getMaxKeypoints ( )
inline

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

Definition at line 614 of file agast_2d.h.

getNonMaxSuppression()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getNonMaxSuppression ( )
inline

Returns whether non-max-suppression is applied or not.

Definition at line 646 of file agast_2d.h.

getThreshold()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getThreshold ( )
inline

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

Definition at line 597 of file agast_2d.h.

initCompute()

template<typename PointInT , typename PointOutT , typename IntensityT >
bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::initCompute
overrideprotectedvirtual

Initializes everything and checks whether input data is fine.

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 49 of file agast_2d.hpp.

setAgastDetector()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::setAgastDetector ( const AgastDetectorPtr & detector )
inline

Definition at line 652 of file agast_2d.h.

setMaxDataValue()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
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 623 of file agast_2d.h.

setMaxKeypoints()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
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 607 of file agast_2d.h.

setNonMaxSuppression()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
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 639 of file agast_2d.h.

setThreshold()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
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 590 of file agast_2d.h.

Member Data Documentation

apply_non_max_suppression_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::apply_non_max_suppression_
protected

bmax_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_
protected

detector_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
AgastDetectorPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_
protected

intensity_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
IntensityT pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::intensity_
protected

Intensity field accessor.

Definition at line 675 of file agast_2d.h.

nr_max_keypoints_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
unsigned int pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::nr_max_keypoints_
protected

threshold_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_
protected

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_agast_keypoint2_d_base.html