Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of Willow Garage, Inc. nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 00039 #ifndef PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_ 00040 #define PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_ 00041 00042 #include <pcl/common/io.h> 00043 00044 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00045 template <typename PointInT, typename PointOutT, typename IntensityT> bool 00046 pcl::AgastKeypoint2DBase<PointInT, PointOutT, IntensityT>::initCompute () 00047 { 00048 if (!pcl::Keypoint<PointInT, PointOutT>::initCompute ()) 00049 { 00050 PCL_ERROR ("[pcl::%s::initCompute] init failed.!\n", name_.c_str ()); 00051 return (false); 00052 } 00053 00054 if (!input_->isOrganized ()) 00055 { 00056 PCL_ERROR ("[pcl::%s::initCompute] %s doesn't support non organized clouds!\n", name_.c_str ()); 00057 return (false); 00058 } 00059 00060 return (true); 00061 } 00062 00063 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00064 template <typename PointInT, typename PointOutT> void 00065 pcl::AgastKeypoint2D<PointInT, PointOutT>::detectKeypoints (PointCloudOut &output) 00066 { 00067 // image size 00068 const size_t width = input_->width; 00069 const size_t height = input_->height; 00070 00071 // destination for intensity data; will be forwarded to AGAST 00072 std::vector<unsigned char> image_data (width*height); 00073 00074 for (size_t i = 0; i < image_data.size (); ++i) 00075 image_data[i] = static_cast<unsigned char> (intensity_ ((*input_)[i])); 00076 00077 if (!detector_) 00078 detector_.reset (new pcl::keypoints::agast::AgastDetector7_12s (width, height, threshold_, bmax_)); 00079 00080 detector_->setMaxKeypoints (nr_max_keypoints_); 00081 00082 if (apply_non_max_suppression_) 00083 { 00084 pcl::PointCloud<pcl::PointUV> tmp_cloud; 00085 detector_->detectKeypoints (image_data, tmp_cloud); 00086 00087 pcl::keypoints::internal::AgastApplyNonMaxSuppresion<PointOutT> anms ( 00088 image_data, tmp_cloud, detector_, output); 00089 } 00090 else 00091 { 00092 pcl::keypoints::internal::AgastDetector<PointOutT> dec ( 00093 image_data, detector_, output); 00094 } 00095 00096 // we do not change the denseness 00097 output.is_dense = true; 00098 } 00099 00100 00101 #define AgastKeypoint2D(T,I) template class PCL_EXPORTS pcl::AgastKeypoint2D<T,I>; 00102 #endif