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A layer in the BRISK detector pyramid. More...

#include <pcl/keypoints/brisk_2d.h>

Classes

struct CommonParams

Public Member Functions

Layer (const std::vector< unsigned char > &img, int width, int height, float scale=1.0f, float offset=0.0f)
Constructor. More...
Layer (const Layer &layer, int mode)
Copy constructor for deriving a layer. More...
void getAgastPoints (std::uint8_t threshold, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &keypoints)
AGAST keypoints without non-max suppression. More...
std::uint8_t getAgastScore (int x, int y, std::uint8_t threshold)
Get the AGAST keypoint score for a given pixel using a threshold. More...
std::uint8_t getAgastScore_5_8 (int x, int y, std::uint8_t threshold)
Get the AGAST keypoint score for a given pixel using a threshold. More...
std::uint8_t getAgastScore (float xf, float yf, std::uint8_t threshold, float scale=1.0f)
Get the AGAST keypoint score for a given pixel using a threshold. More...
std::uint8_t getValue (const std::vector< unsigned char > &mat, int width, int height, float xf, float yf, float scale)
Access gray values (smoothed/interpolated) More...
const std::vector< unsigned char > & getImage () const
Get the image used. More...
int getImageWidth () const
Get the width of the image used. More...
int getImageHeight () const
Get the height of the image used. More...
float getScale () const
Get the scale used. More...
float getOffset () const
Get the offset used. More...
const std::vector< unsigned char > & getScores () const
Get the scores obtained. More...

Detailed Description

A layer in the BRISK detector pyramid.

Definition at line 248 of file brisk_2d.h.

Constructor & Destructor Documentation

Layer() [1/2]

pcl::keypoints::brisk::Layer::Layer ( const std::vector< unsigned char > & img,
int width,
int height,
float scale = 1.0f,
float offset = 0.0f
)

Constructor.

Parameters
[in] img input image
[in] width image width
[in] height image height
[in] scale scale
[in] offset offset

Layer() [2/2]

pcl::keypoints::brisk::Layer::Layer ( const Layer & layer,
int mode
)

Copy constructor for deriving a layer.

Parameters
[in] layer layer to derive from
[in] mode deriving mode

Member Function Documentation

getAgastPoints()

void pcl::keypoints::brisk::Layer::getAgastPoints ( std::uint8_t threshold,
std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & keypoints
)

AGAST keypoints without non-max suppression.

Parameters
[in] threshold the keypoints threshold
[out] keypoints the AGAST keypoints

getAgastScore() [1/2]

std::uint8_t pcl::keypoints::brisk::Layer::getAgastScore ( float xf,
float yf,
std::uint8_t threshold,
float scale = 1.0f
)

Get the AGAST keypoint score for a given pixel using a threshold.

Parameters
[in] xf the X coordinate of the pixel
[in] yf the Y coordinate of the pixel
[in] threshold the threshold to use for cutting the response
[in] scale the scale

getAgastScore() [2/2]

std::uint8_t pcl::keypoints::brisk::Layer::getAgastScore ( int x,
int y,
std::uint8_t threshold
)

Get the AGAST keypoint score for a given pixel using a threshold.

Parameters
[in] x the U coordinate of the pixel
[in] y the V coordinate of the pixel
[in] threshold the threshold to use for cutting the response

getAgastScore_5_8()

std::uint8_t pcl::keypoints::brisk::Layer::getAgastScore_5_8 ( int x,
int y,
std::uint8_t threshold
)

Get the AGAST keypoint score for a given pixel using a threshold.

Parameters
[in] x the U coordinate of the pixel
[in] y the V coordinate of the pixel
[in] threshold the threshold to use for cutting the response

getImage()

const std::vector<unsigned char>& pcl::keypoints::brisk::Layer::getImage ( ) const
inline

Get the image used.

Definition at line 320 of file brisk_2d.h.

getImageHeight()

int pcl::keypoints::brisk::Layer::getImageHeight ( ) const
inline

Get the height of the image used.

Definition at line 334 of file brisk_2d.h.

getImageWidth()

int pcl::keypoints::brisk::Layer::getImageWidth ( ) const
inline

Get the width of the image used.

Definition at line 327 of file brisk_2d.h.

getOffset()

float pcl::keypoints::brisk::Layer::getOffset ( ) const
inline

Get the offset used.

Definition at line 348 of file brisk_2d.h.

getScale()

float pcl::keypoints::brisk::Layer::getScale ( ) const
inline

Get the scale used.

Definition at line 341 of file brisk_2d.h.

getScores()

const std::vector<unsigned char>& pcl::keypoints::brisk::Layer::getScores ( ) const
inline

Get the scores obtained.

Definition at line 355 of file brisk_2d.h.

getValue()

std::uint8_t pcl::keypoints::brisk::Layer::getValue ( const std::vector< unsigned char > & mat,
int width,
int height,
float xf,
float yf,
float scale
)

Access gray values (smoothed/interpolated)

Parameters
[in] mat the image
[in] width the image width
[in] height the image height
[in] xf the x coordinate
[in] yf the y coordinate
[in] scale the scale
The documentation for this class was generated from the following file:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1keypoints_1_1brisk_1_1_layer.html