Point Cloud Library (PCL)  1.9.1-dev
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pcl::keypoints::brisk::Layer Class Reference

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 (uint8_t threshold, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &keypoints)
 AGAST keypoints without non-max suppression. More...
 
uint8_t getAgastScore (int x, int y, uint8_t threshold)
 Get the AGAST keypoint score for a given pixel using a threshold. More...
 
uint8_t getAgastScore_5_8 (int x, int y, uint8_t threshold)
 Get the AGAST keypoint score for a given pixel using a threshold. More...
 
uint8_t getAgastScore (float xf, float yf, uint8_t threshold, float scale=1.0f)
 Get the AGAST keypoint score for a given pixel using a threshold. More...
 
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 246 of file brisk_2d.h.

Constructor & Destructor Documentation

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]imginput image
[in]widthimage width
[in]heightimage height
[in]scalescale
[in]offsetoffset
pcl::keypoints::brisk::Layer::Layer ( const Layer layer,
int  mode 
)

Copy constructor for deriving a layer.

Parameters
[in]layerlayer to derive from
[in]modederiving mode

Member Function Documentation

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

AGAST keypoints without non-max suppression.

Parameters
[in]thresholdthe keypoints threshold
[out]keypointsthe AGAST keypoints
uint8_t pcl::keypoints::brisk::Layer::getAgastScore ( int  x,
int  y,
uint8_t  threshold 
)

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

Parameters
[in]xthe U coordinate of the pixel
[in]ythe V coordinate of the pixel
[in]thresholdthe threshold to use for cutting the response
uint8_t pcl::keypoints::brisk::Layer::getAgastScore ( float  xf,
float  yf,
uint8_t  threshold,
float  scale = 1.0f 
)

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

Parameters
[in]xfthe X coordinate of the pixel
[in]yfthe Y coordinate of the pixel
[in]thresholdthe threshold to use for cutting the response
[in]scalethe scale
uint8_t pcl::keypoints::brisk::Layer::getAgastScore_5_8 ( int  x,
int  y,
uint8_t  threshold 
)

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

Parameters
[in]xthe U coordinate of the pixel
[in]ythe V coordinate of the pixel
[in]thresholdthe threshold to use for cutting the response
const std::vector<unsigned char>& pcl::keypoints::brisk::Layer::getImage ( ) const
inline

Get the image used.

Definition at line 318 of file brisk_2d.h.

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

Get the height of the image used.

Definition at line 332 of file brisk_2d.h.

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

Get the width of the image used.

Definition at line 325 of file brisk_2d.h.

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

Get the offset used.

Definition at line 346 of file brisk_2d.h.

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

Get the scale used.

Definition at line 339 of file brisk_2d.h.

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

Get the scores obtained.

Definition at line 353 of file brisk_2d.h.

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]matthe image
[in]widththe image width
[in]heightthe image height
[in]xfthe x coordinate
[in]yfthe y coordinate
[in]scalethe scale

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