Point Cloud Library (PCL)
1.7.1
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Detects 2D AGAST corner points. More...
#include <pcl/keypoints/agast_2d.h>
Public Member Functions | |
AgastKeypoint2D () | |
Constructor. More... | |
virtual | ~AgastKeypoint2D () |
Destructor. More... | |
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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 () |
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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... | |
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... | |
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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 () |
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... | |
const pcl::PointXYZ & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
virtual void | detectKeypoints (pcl::PointCloud< pcl::PointUV > &output) |
Detects the keypoints. More... | |
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bool | initCompute () |
Initializes everything and checks whether input data is fine. More... | |
virtual void | detectKeypoints (PointCloudOut &output)=0 |
Detects the keypoints. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual void | detectKeypoints (PointCloudOut &output)=0 |
Abstract key point detection method. More... | |
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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... | |
Detects 2D AGAST corner points.
Based on the original work and paper reference by
Code example:
Definition at line 815 of file agast_2d.h.
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inline |
Constructor.
Definition at line 820 of file agast_2d.h.
References pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >::bmax_, and pcl::Keypoint< PointInT, PointOutT >::name_.
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inlinevirtual |
Destructor.
Definition at line 827 of file agast_2d.h.
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protectedvirtual |
Detects the keypoints.
[out] | output | the resultant keypoints |