|
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 |
|
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 |
|
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 |
|
|
| 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 () |
|
| 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...
|
|
| 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...
|
|
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.
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.