Abstract detector class for AGAST corner point detectors.
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#include <pcl/keypoints/agast_2d.h>
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| AbstractAgastDetector (const std::size_t width, const std::size_t height, const double threshold, const double bmax) |
| Constructor. More...
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virtual | ~AbstractAgastDetector ()=default |
| Destructor. More...
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void | detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const |
| Detects corner points. More...
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void | detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const |
| Detects corner points. More...
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void | applyNonMaxSuppression (const std::vector< unsigned char > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output) |
| Applies non-max-suppression. More...
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void | applyNonMaxSuppression (const std::vector< float > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output) |
| Applies non-max-suppression. More...
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virtual int | computeCornerScore (const unsigned char *im) const =0 |
| Computes corner score. More...
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virtual int | computeCornerScore (const float *im) const =0 |
| Computes corner score. More...
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void | setThreshold (const double threshold) |
| Sets the threshold for corner detection. More...
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double | getThreshold () |
| Get the threshold for corner detection, as set by the user. More...
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void | setMaxKeypoints (const unsigned int nr_max_keypoints) |
| Sets the maximum number of keypoints to return. More...
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unsigned int | getMaxKeypoints () |
| Get the maximum number of keypoints to return, as set by the user. More...
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virtual void | detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const =0 |
| Detects points of interest (i.e., keypoints) in the given image. More...
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virtual void | detect (const float *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &) const =0 |
| Detects points of interest (i.e., keypoints) in the given image. More...
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Abstract detector class for AGAST corner point detectors.
Adapted from the C++ implementation of Elmar Mair (http://www6.in.tum.de/Main/ResearchAgast).
- Author
- Stefan Holzer
Definition at line 64 of file agast_2d.h.
pcl::keypoints::agast::AbstractAgastDetector::AbstractAgastDetector |
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const std::size_t |
width, |
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const std::size_t |
height, |
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const double |
threshold, |
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const double |
bmax |
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inline |
Constructor.
- Parameters
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[in] | width | the width of the image to process |
[in] | height | the height of the image to process |
[in] | threshold | the corner detection threshold |
[in] | bmax | the max image value (default: 255) |
Definition at line 76 of file agast_2d.h.
virtual pcl::keypoints::agast::AbstractAgastDetector::~AbstractAgastDetector |
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virtualdefault |
Applies non-max-suppression.
- Parameters
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[in] | intensity_data | the image data |
[in] | input | the keypoint positions |
[out] | output | the resultant keypoints after non-max-suppression |
Applies non-max-suppression.
- Parameters
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[in] | intensity_data | the image data |
[in] | input | the keypoint positions |
[out] | output | the resultant keypoints after non-max-suppression |
Non-max-suppression helper method.
- Parameters
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[in] | input | the keypoint positions |
[in] | scores | the keypoint scores computed on the image data |
[out] | output | the resultant keypoints after non-max-suppression |
virtual int pcl::keypoints::agast::AbstractAgastDetector::computeCornerScore |
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const unsigned char * |
im | ) |
const |
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pure virtual |
virtual int pcl::keypoints::agast::AbstractAgastDetector::computeCornerScore |
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const float * |
im | ) |
const |
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pure virtual |
void pcl::keypoints::agast::AbstractAgastDetector::computeCornerScores |
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const unsigned char * |
im, |
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const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & |
corners_all, |
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std::vector< ScoreIndex > & |
scores |
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Computes corner scores for the specified points.
- Parameters
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void pcl::keypoints::agast::AbstractAgastDetector::computeCornerScores |
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const float * |
im, |
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const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & |
corners_all, |
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std::vector< ScoreIndex > & |
scores |
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protected |
Computes corner scores for the specified points.
- Parameters
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virtual void pcl::keypoints::agast::AbstractAgastDetector::detect |
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const unsigned char * |
im, |
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std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & |
corners_all |
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pure virtual |
virtual void pcl::keypoints::agast::AbstractAgastDetector::detect |
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const float * |
im, |
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std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & |
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pure virtual |
void pcl::keypoints::agast::AbstractAgastDetector::detectKeypoints |
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const std::vector< unsigned char > & |
intensity_data, |
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pcl::PointCloud< pcl::PointUV > & |
output |
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Detects corner points.
- Parameters
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void pcl::keypoints::agast::AbstractAgastDetector::detectKeypoints |
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const std::vector< float > & |
intensity_data, |
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pcl::PointCloud< pcl::PointUV > & |
output |
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Detects corner points.
- Parameters
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unsigned int pcl::keypoints::agast::AbstractAgastDetector::getMaxKeypoints |
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inline |
Get the maximum number of keypoints to return, as set by the user.
Definition at line 166 of file agast_2d.h.
double pcl::keypoints::agast::AbstractAgastDetector::getThreshold |
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Get the threshold for corner detection, as set by the user.
Definition at line 149 of file agast_2d.h.
virtual void pcl::keypoints::agast::AbstractAgastDetector::initPattern |
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protectedpure virtual |
void pcl::keypoints::agast::AbstractAgastDetector::setMaxKeypoints |
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const unsigned int |
nr_max_keypoints | ) |
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inline |
Sets the maximum number of keypoints to return.
The estimated keypoints are sorted by their internal score.
- Parameters
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[in] | nr_max_keypoints | set the maximum number of keypoints to return |
Definition at line 159 of file agast_2d.h.
void pcl::keypoints::agast::AbstractAgastDetector::setThreshold |
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const double |
threshold | ) |
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inline |
Sets the threshold for corner detection.
- Parameters
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[in] | threshold | the threshold used for corner detection. |
Definition at line 142 of file agast_2d.h.
double pcl::keypoints::agast::AbstractAgastDetector::bmax_ |
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std::size_t pcl::keypoints::agast::AbstractAgastDetector::height_ |
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Height of the image to process.
Definition at line 246 of file agast_2d.h.
unsigned int pcl::keypoints::agast::AbstractAgastDetector::nr_max_keypoints_ |
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The maximum number of keypoints to return.
Definition at line 252 of file agast_2d.h.
double pcl::keypoints::agast::AbstractAgastDetector::threshold_ |
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Threshold for corner detection.
Definition at line 249 of file agast_2d.h.
std::size_t pcl::keypoints::agast::AbstractAgastDetector::width_ |
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Width of the image to process.
Definition at line 244 of file agast_2d.h.
The documentation for this class was generated from the following file: