Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT > Class Template Referenceabstract

Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

+ Inheritance diagram for pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >:

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 = boost::shared_ptr< Keypoint< PointInT, PointOutT > >
 
using ConstPtr = boost::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(int, double, std::vector< int > &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>
 
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = boost::shared_ptr< PointIndices >
 
using PointIndicesConstPtr = boost::shared_ptr< PointIndices const >
 

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 ()
 
void harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
 
void hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE)
 
void hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales)
 
void imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2)
 
 Keypoint ()
 Empty constructor. More...
 
 ~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 (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< PointInT >
 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 () const
 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...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. 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 Member Functions inherited from pcl::PCLBase< PointInT >
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...
 

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...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. 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 555 of file agast_2d.h.

Member Typedef Documentation

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 563 of file agast_2d.h.

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 560 of file agast_2d.h.

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 558 of file agast_2d.h.

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

Definition at line 561 of file agast_2d.h.

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 559 of file agast_2d.h.

Constructor & Destructor Documentation

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

Constructor.

Definition at line 571 of file agast_2d.h.

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

Destructor.

Definition at line 581 of file agast_2d.h.

Member Function Documentation

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

Definition at line 657 of file agast_2d.h.

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 629 of file agast_2d.h.

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 613 of file agast_2d.h.

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 645 of file agast_2d.h.

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 596 of file agast_2d.h.

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 46 of file agast_2d.hpp.

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 651 of file agast_2d.h.

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]bmaxthe max image data value

Definition at line 622 of file agast_2d.h.

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_keypointsset the maximum number of keypoints to return

Definition at line 606 of file agast_2d.h.

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]enableddetermines whether non-max-suppression is enabled.

Definition at line 638 of file agast_2d.h.

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]thresholdthe threshold used for corner detection.

Definition at line 589 of file agast_2d.h.

Member Data Documentation

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

Determines whether non-max-suppression is activated.

Definition at line 680 of file agast_2d.h.

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

Max image value.

Definition at line 683 of file agast_2d.h.

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

The Agast detector to use.

Definition at line 686 of file agast_2d.h.

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 674 of file agast_2d.h.

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

The maximum number of keypoints to return.

Definition at line 689 of file agast_2d.h.

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

Threshold for corner detection.

Definition at line 677 of file agast_2d.h.


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