Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

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

Collaboration diagram for pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >:

Public Types
typedef Keypoint< PointInT, PointOutT >::PointCloudIn	PointCloudIn

typedef Keypoint< PointInT, PointOutT >::PointCloudOut	PointCloudOut

typedef Keypoint< PointInT, PointOutT >::KdTree	KdTree

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

typedef pcl::keypoints::agast::AbstractAgastDetector::Ptr	AgastDetectorPtr

Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
typedef boost::shared_ptr < Keypoint< PointInT, PointOutT > >	Ptr

typedef boost::shared_ptr < const Keypoint< PointInT, PointOutT > >	ConstPtr

typedef PCLBase< PointInT >	BaseClass

typedef pcl::search::Search < PointInT >	KdTree

typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr

typedef pcl::PointCloud< PointInT >	PointCloudIn

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

typedef pcl::PointCloud < PointOutT >	PointCloudOut

typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)>	SearchMethod

typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>	SearchMethodSurface

Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < PointIndices >	PointIndicesPtr

typedef boost::shared_ptr < PointIndices const >	PointIndicesConstPtr

Public Member Functions
	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< PointInT, PointOutT >
	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...

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 ()
	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< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. 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 587 of file agast_2d.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

typedef pcl::keypoints::agast::AbstractAgastDetector::Ptr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastDetectorPtr

Definition at line 595 of file agast_2d.h.

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

typedef Keypoint<PointInT, PointOutT>::KdTree pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::KdTree

Definition at line 592 of file agast_2d.h.

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudIn

Definition at line 590 of file agast_2d.h.

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

typedef PointCloudIn::ConstPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr

Definition at line 593 of file agast_2d.h.

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::PointCloudOut

Definition at line 591 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 603 of file agast_2d.h.

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

virtual pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::~AgastKeypoint2DBase ( )

inlinevirtual

Destructor.

Definition at line 614 of file agast_2d.h.

Member Function Documentation

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

virtual void pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detectKeypoints ( PointCloudOut & output )

protectedpure virtual

Detects the keypoints.

Parameters

[out] output the resultant keypoints

Implements pcl::Keypoint< PointInT, PointOutT >.

Implemented in pcl::AgastKeypoint2D< PointInT, PointOutT >.

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

AgastDetectorPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::getAgastDetector ( )

inline

Definition at line 690 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 662 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 nuber of keypoints to return, as set by the user.

Definition at line 646 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 678 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 629 of file agast_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT >

bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::initCompute ( )

protectedvirtual

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 684 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] bmax the max image data value

Definition at line 655 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_keypoints set the maximum number of keypoints to return

Definition at line 639 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] enabled determines whether non-max-suppression is enabled.

Definition at line 671 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] threshold the threshold used for corner detection.

Definition at line 622 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 713 of file agast_2d.h.

Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getNonMaxSuppression(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setNonMaxSuppression().

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 716 of file agast_2d.h.

Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getMaxDataValue(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setMaxDataValue().

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 719 of file agast_2d.h.

Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getAgastDetector(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setAgastDetector().

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 707 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 722 of file agast_2d.h.

Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getMaxKeypoints(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setMaxKeypoints().

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 710 of file agast_2d.h.

Referenced by pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::getThreshold(), and pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::setThreshold().

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

/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/keypoints/include/pcl/keypoints/agast_2d.h
/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/keypoints/include/pcl/keypoints/impl/agast_2d.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>> class pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >