Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT > Class Template Reference

Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

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

List of all members.

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 Member Functions

 AgastKeypoint2DBase ()
 Constructor.
virtual ~AgastKeypoint2DBase ()
 Destructor.
void setThreshold (const double threshold)
 Sets the threshold for corner detection.
double getThreshold ()
 Get the threshold for corner detection, as set by the user.
void setMaxKeypoints (const unsigned int nr_max_keypoints)
 Sets the maximum number of keypoints to return.
unsigned int getMaxKeypoints ()
 Get the maximum nuber of keypoints to return, as set by the user.
void setMaxDataValue (const double bmax)
 Sets the max image data value (affects how many iterations AGAST does)
double getMaxDataValue ()
 Get the bmax image value, as set by the user.
void setNonMaxSuppression (const bool enabled)
 Sets whether non-max-suppression is applied or not.
bool getNonMaxSuppression ()
 Returns whether non-max-suppression is applied or not.
void setAgastDetector (const AgastDetectorPtr &detector)
AgastDetectorPtr getAgastDetector ()

Protected Member Functions

bool initCompute ()
 Initializes everything and checks whether input data is fine.
virtual void detectKeypoints (PointCloudOut &output)=0
 Detects the keypoints.

Protected Attributes

IntensityT intensity_
 Intensity field accessor.
double threshold_
 Threshold for corner detection.
bool apply_non_max_suppression_
 Determines whether non-max-suppression is activated.
double bmax_
 Max image value.
AgastDetectorPtr detector_
 The Agast detector to use.
unsigned int nr_max_keypoints_
 The maximum number of keypoints to return.

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 589 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 597 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

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 594 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

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 592 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

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 595 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

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

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

Definition at line 593 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 605 of file agast_2d.h.

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

Destructor.

Definition at line 616 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) [protected, pure virtual]

Detects the keypoints.

Parameters:
[out]outputthe 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 692 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 664 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 648 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 680 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 631 of file agast_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT >
bool pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::initCompute ( ) [protected, virtual]

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 686 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 657 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 641 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 673 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 624 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]
template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::bmax_ [protected]
template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
AgastDetectorPtr pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::detector_ [protected]
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 709 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]
template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
double pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::threshold_ [protected]

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