Point Cloud Library (PCL)  1.7.0
List of all members | Public Member Functions | Protected Member Functions
pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV > Class Template Reference

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. More...
 
virtual ~AgastKeypoint2D ()
 Destructor. More...
 
- Public Member Functions inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >
 AgastKeypoint2DBase ()
 Constructor. More...
 
virtual ~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 nuber 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< pcl::PointXYZ, pcl::PointUV >
 Keypoint ()
 Empty constructor. More...
 
virtual ~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...
 
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 (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. More...
 
- Public Member Functions inherited from pcl::PCLBase< pcl::PointXYZ >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
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. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
const pcl::PointXYZoperator[] (size_t pos)
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual void detectKeypoints (pcl::PointCloud< pcl::PointUV > &output)
 Detects the keypoints. More...
 
- 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. More...
 
virtual void detectKeypoints (PointCloudOut &output)=0
 Detects the keypoints. More...
 
- 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. More...
 
virtual void detectKeypoints (PointCloudOut &output)=0
 Abstract key point detection method. More...
 
- Protected Member Functions inherited from pcl::PCLBase< pcl::PointXYZ >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Additional Inherited Members

- Public Types inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >
typedef Keypoint
< pcl::PointXYZ, pcl::PointUV >
::PointCloudIn 
PointCloudIn
 
typedef Keypoint
< pcl::PointXYZ, pcl::PointUV >
::PointCloudOut 
PointCloudOut
 
typedef Keypoint
< pcl::PointXYZ, pcl::PointUV >
::KdTree 
KdTree
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef
pcl::keypoints::agast::AbstractAgastDetector::Ptr 
AgastDetectorPtr
 
- Protected Attributes inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >
pcl::common::IntensityFieldAccessor
< pcl::PointXYZ
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...
 

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:

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.
Author
Stefan Holzer, Radu B. Rusu

Definition at line 815 of file agast_2d.h.

Constructor & Destructor Documentation

Destructor.

Definition at line 827 of file agast_2d.h.

Member Function Documentation

virtual void pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::detectKeypoints ( pcl::PointCloud< pcl::PointUV > &  output)
protectedvirtual

Detects the keypoints.

Parameters
[out]outputthe resultant keypoints

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