Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::keypoints::agast::AgastDetector5_8 Class Reference

Detector class for AGAST corner point detector (5_8). More...

#include <pcl/keypoints/agast_2d.h>

+ Inheritance diagram for pcl::keypoints::agast::AgastDetector5_8:

Public Types

typedef boost::shared_ptr< AgastDetector5_8Ptr
 
typedef boost::shared_ptr< const AgastDetector5_8ConstPtr
 
- Public Types inherited from pcl::keypoints::agast::AbstractAgastDetector
typedef boost::shared_ptr< AbstractAgastDetectorPtr
 
typedef boost::shared_ptr< const AbstractAgastDetectorConstPtr
 

Public Member Functions

 AgastDetector5_8 (const size_t width, const size_t height, const double threshold, const double bmax=255)
 Constructor. More...
 
 ~AgastDetector5_8 ()
 Destructor. More...
 
int computeCornerScore (const unsigned char *im) const
 Computes corner score. More...
 
int computeCornerScore (const float *im) const
 Computes corner score. More...
 
void detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const
 Detects points of interest (i.e., keypoints) in the given image. More...
 
void detect (const float *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const
 Detects points of interest (i.e., keypoints) in the given image. More...
 
- Public Member Functions inherited from pcl::keypoints::agast::AbstractAgastDetector
 AbstractAgastDetector (const size_t width, const size_t height, const double threshold, const double bmax)
 Constructor. More...
 
virtual ~AbstractAgastDetector ()
 Destructor. More...
 
void detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output)
 Detects corner points. More...
 
void detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output)
 Detects corner points. More...
 
void applyNonMaxSuppression (const std::vector< unsigned char > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output)
 Applies non-max-suppression. More...
 
void applyNonMaxSuppression (const std::vector< float > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output)
 Applies non-max-suppression. 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...
 

Protected Member Functions

void initPattern ()
 Initializes the sample pattern. More...
 
- Protected Member Functions inherited from pcl::keypoints::agast::AbstractAgastDetector
void applyNonMaxSuppression (const pcl::PointCloud< pcl::PointUV > &input, const std::vector< ScoreIndex > &scores, pcl::PointCloud< pcl::PointUV > &output)
 Non-max-suppression helper method. More...
 
void computeCornerScores (const unsigned char *im, const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all, std::vector< ScoreIndex > &scores)
 Computes corner scores for the specified points. More...
 
void computeCornerScores (const float *im, const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all, std::vector< ScoreIndex > &scores)
 Computes corner scores for the specified points. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::keypoints::agast::AbstractAgastDetector
size_t width_
 Width of the image to process. More...
 
size_t height_
 Height of the image to process. More...
 
double threshold_
 Threshold for corner detection. More...
 
unsigned int nr_max_keypoints_
 The maximum number of keypoints to return. More...
 
double bmax_
 Max image value. More...
 

Detailed Description

Detector class for AGAST corner point detector (5_8).

Adapted from the C++ implementation of Elmar Mair (http://www6.in.tum.de/Main/ResearchAgast).

Author
Stefan Holzer

Definition at line 345 of file agast_2d.h.

Member Typedef Documentation

Definition at line 349 of file agast_2d.h.

Definition at line 348 of file agast_2d.h.

Constructor & Destructor Documentation

pcl::keypoints::agast::AgastDetector5_8::AgastDetector5_8 ( const size_t  width,
const size_t  height,
const double  threshold,
const double  bmax = 255 
)
inline

Constructor.

Parameters
[in]widththe width of the image to process
[in]heightthe height of the image to process
[in]thresholdthe corner detection threshold
[in]bmaxthe max image value (default: 255)

Definition at line 357 of file agast_2d.h.

pcl::keypoints::agast::AgastDetector5_8::~AgastDetector5_8 ( )
inline

Destructor.

Definition at line 367 of file agast_2d.h.

Member Function Documentation

int pcl::keypoints::agast::AgastDetector5_8::computeCornerScore ( const unsigned char *  im) const
virtual

Computes corner score.

Parameters
im

Implements pcl::keypoints::agast::AbstractAgastDetector.

int pcl::keypoints::agast::AgastDetector5_8::computeCornerScore ( const float *  im) const
virtual

Computes corner score.

Parameters
im

Implements pcl::keypoints::agast::AbstractAgastDetector.

void pcl::keypoints::agast::AgastDetector5_8::detect ( const unsigned char *  im,
std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &  corners_all 
) const
virtual

Detects points of interest (i.e., keypoints) in the given image.

Parameters
[in]imthe image to detect keypoints in
[out]corners_allthe resultant set of keypoints detected

Implements pcl::keypoints::agast::AbstractAgastDetector.

void pcl::keypoints::agast::AgastDetector5_8::detect ( const float *  im,
std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &  corners_all 
) const
virtual

Detects points of interest (i.e., keypoints) in the given image.

Parameters
[in]imthe image to detect keypoints in
[out]corners_allthe resultant set of keypoints detected

Implements pcl::keypoints::agast::AbstractAgastDetector.

void pcl::keypoints::agast::AgastDetector5_8::initPattern ( )
protectedvirtual

Initializes the sample pattern.

Implements pcl::keypoints::agast::AbstractAgastDetector.


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