Abstract detector class for AGAST corner point detectors. More...

#include <pcl/keypoints/agast_2d.h>

Inheritance diagram for pcl::keypoints::agast::AbstractAgastDetector:

Classes
struct	ScoreIndex
	Structure holding an index and the associated keypoint score. More...
struct	CompareScoreIndex
	Score index comparator. More...

Public Types
using	Ptr = shared_ptr<AbstractAgastDetector>
using	ConstPtr = shared_ptr<const AbstractAgastDetector>

Public Member Functions
	AbstractAgastDetector (const std::size_t width, const std::size_t height, const double threshold, const double bmax)
	Constructor.
virtual	~AbstractAgastDetector ()=default
	Destructor.
void	detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const
	Detects corner points.
void	detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const
	Detects corner points.
void	applyNonMaxSuppression (const std::vector< unsigned char > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output)
	Applies non-max-suppression.
void	applyNonMaxSuppression (const std::vector< float > &intensity_data, const pcl::PointCloud< pcl::PointUV > &input, pcl::PointCloud< pcl::PointUV > &output)
	Applies non-max-suppression.
virtual int	computeCornerScore (const unsigned char *im) const =0
	Computes corner score.
virtual int	computeCornerScore (const float *im) const =0
	Computes corner score.
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 number of keypoints to return, as set by the user.
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.
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.

Protected Member Functions
virtual void	initPattern ()=0
	Initializes the sample pattern.
void	applyNonMaxSuppression (const pcl::PointCloud< pcl::PointUV > &input, const std::vector< ScoreIndex > &scores, pcl::PointCloud< pcl::PointUV > &output)
	Non-max-suppression helper method.
void	computeCornerScores (const unsigned char *im, const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all, std::vector< ScoreIndex > &scores) const
	Computes corner scores for the specified points.
void	computeCornerScores (const float *im, const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all, std::vector< ScoreIndex > &scores) const
	Computes corner scores for the specified points.

Protected Attributes
std::size_t	width_
	Width of the image to process.
std::size_t	height_
	Height of the image to process.
double	threshold_
	Threshold for corner detection.
unsigned int	nr_max_keypoints_
	The maximum number of keypoints to return.
double	bmax_
	Max image value.

Detailed Description

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.

Member Typedef Documentation

◆ ConstPtr

using pcl::keypoints::agast::AbstractAgastDetector::ConstPtr = shared_ptr<const AbstractAgastDetector>

Definition at line 68 of file agast_2d.h.

◆ Ptr

using pcl::keypoints::agast::AbstractAgastDetector::Ptr = shared_ptr<AbstractAgastDetector>

Definition at line 67 of file agast_2d.h.

Constructor & Destructor Documentation

◆ AbstractAgastDetector()

pcl::keypoints::agast::AbstractAgastDetector::AbstractAgastDetector	(	const std::size_t	width,
		const std::size_t	height,
		const double	threshold,
		const double	bmax )

inline

Constructor.

Parameters

[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.

References bmax_, height_, nr_max_keypoints_, threshold_, and width_.

Referenced by pcl::keypoints::agast::AgastDetector5_8::AgastDetector5_8(), pcl::keypoints::agast::AgastDetector7_12s::AgastDetector7_12s(), and pcl::keypoints::agast::OastDetector9_16::OastDetector9_16().

◆ ~AbstractAgastDetector()

virtual pcl::keypoints::agast::AbstractAgastDetector::~AbstractAgastDetector ( )

virtualdefault

Destructor.

Member Function Documentation

◆ applyNonMaxSuppression() [1/3]

void pcl::keypoints::agast::AbstractAgastDetector::applyNonMaxSuppression	(	const pcl::PointCloud< pcl::PointUV > &	input,
		const std::vector< ScoreIndex > &	scores,
		pcl::PointCloud< pcl::PointUV > &	output )

protected

Non-max-suppression helper method.

Parameters

[in]	input	the keypoint positions
[in]	scores	the keypoint scores computed on the image data
[out]	output	the resultant keypoints after non-max-suppression

◆ applyNonMaxSuppression() [2/3]

void pcl::keypoints::agast::AbstractAgastDetector::applyNonMaxSuppression	(	const std::vector< float > &	intensity_data,
		const pcl::PointCloud< pcl::PointUV > &	input,
		pcl::PointCloud< pcl::PointUV > &	output )

Applies non-max-suppression.

Parameters

[in]	intensity_data	the image data
[in]	input	the keypoint positions
[out]	output	the resultant keypoints after non-max-suppression

◆ applyNonMaxSuppression() [3/3]

void pcl::keypoints::agast::AbstractAgastDetector::applyNonMaxSuppression	(	const std::vector< unsigned char > &	intensity_data,
		const pcl::PointCloud< pcl::PointUV > &	input,
		pcl::PointCloud< pcl::PointUV > &	output )

Applies non-max-suppression.

Parameters

[in]	intensity_data	the image data
[in]	input	the keypoint positions
[out]	output	the resultant keypoints after non-max-suppression

◆ computeCornerScore() [1/2]

virtual int pcl::keypoints::agast::AbstractAgastDetector::computeCornerScore ( const float * im ) const

pure virtual

Computes corner score.

Parameters

[in] im the pixels to compute the score at

Implemented in pcl::keypoints::agast::AgastDetector5_8, pcl::keypoints::agast::AgastDetector7_12s, and pcl::keypoints::agast::OastDetector9_16.

◆ computeCornerScore() [2/2]

virtual int pcl::keypoints::agast::AbstractAgastDetector::computeCornerScore ( const unsigned char * im ) const

pure virtual

Computes corner score.

Parameters

[in] im the pixels to compute the score at

Implemented in pcl::keypoints::agast::AgastDetector5_8, pcl::keypoints::agast::AgastDetector7_12s, and pcl::keypoints::agast::OastDetector9_16.

◆ computeCornerScores() [1/2]

void pcl::keypoints::agast::AbstractAgastDetector::computeCornerScores	(	const float *	im,
		const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all,
		std::vector< ScoreIndex > &	scores ) const

protected

Computes corner scores for the specified points.

Parameters

im
corners_all
scores

◆ computeCornerScores() [2/2]

void pcl::keypoints::agast::AbstractAgastDetector::computeCornerScores	(	const unsigned char *	im,
		const std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all,
		std::vector< ScoreIndex > &	scores ) const

protected

Computes corner scores for the specified points.

Parameters

im
corners_all
scores

◆ detect() [1/2]

virtual void pcl::keypoints::agast::AbstractAgastDetector::detect	(	const float *	im,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	) const

pure virtual

Detects points of interest (i.e., keypoints) in the given image.

Parameters

[in] im the image to detect keypoints in

Implemented in pcl::keypoints::agast::AgastDetector5_8, pcl::keypoints::agast::AgastDetector7_12s, and pcl::keypoints::agast::OastDetector9_16.

◆ detect() [2/2]

virtual void pcl::keypoints::agast::AbstractAgastDetector::detect	(	const unsigned char *	im,
		std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &	corners_all ) const

pure virtual

Detects points of interest (i.e., keypoints) in the given image.

Parameters

[in]	im	the image to detect keypoints in
[out]	corners_all	the resultant set of keypoints detected

Implemented in pcl::keypoints::agast::AgastDetector5_8, pcl::keypoints::agast::AgastDetector7_12s, and pcl::keypoints::agast::OastDetector9_16.

◆ detectKeypoints() [1/2]

void pcl::keypoints::agast::AbstractAgastDetector::detectKeypoints	(	const std::vector< float > &	intensity_data,
		pcl::PointCloud< pcl::PointUV > &	output ) const

Detects corner points.

Parameters

intensity_data
output

◆ detectKeypoints() [2/2]

void pcl::keypoints::agast::AbstractAgastDetector::detectKeypoints	(	const std::vector< unsigned char > &	intensity_data,
		pcl::PointCloud< pcl::PointUV > &	output ) const

Detects corner points.

Parameters

intensity_data
output

◆ getMaxKeypoints()

unsigned int pcl::keypoints::agast::AbstractAgastDetector::getMaxKeypoints ( )

inline

Get the maximum number of keypoints to return, as set by the user.

Definition at line 166 of file agast_2d.h.

References nr_max_keypoints_.

◆ getThreshold()

double pcl::keypoints::agast::AbstractAgastDetector::getThreshold ( )

inline

Get the threshold for corner detection, as set by the user.

Definition at line 149 of file agast_2d.h.

References threshold_.

◆ initPattern()

virtual void pcl::keypoints::agast::AbstractAgastDetector::initPattern ( )

protectedpure virtual

Initializes the sample pattern.

Implemented in pcl::keypoints::agast::AgastDetector5_8, pcl::keypoints::agast::AgastDetector7_12s, and pcl::keypoints::agast::OastDetector9_16.

◆ setMaxKeypoints()

void pcl::keypoints::agast::AbstractAgastDetector::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 159 of file agast_2d.h.

References nr_max_keypoints_.

◆ setThreshold()

void pcl::keypoints::agast::AbstractAgastDetector::setThreshold ( const double threshold )

inline

Sets the threshold for corner detection.

Parameters

[in] threshold the threshold used for corner detection.

Definition at line 142 of file agast_2d.h.

References threshold_.

Member Data Documentation

◆ bmax_

double pcl::keypoints::agast::AbstractAgastDetector::bmax_

protected

Max image value.

Definition at line 255 of file agast_2d.h.

Referenced by AbstractAgastDetector().

◆ height_

std::size_t pcl::keypoints::agast::AbstractAgastDetector::height_

protected

Height of the image to process.

Definition at line 246 of file agast_2d.h.

Referenced by AbstractAgastDetector().

◆ nr_max_keypoints_

unsigned int pcl::keypoints::agast::AbstractAgastDetector::nr_max_keypoints_

protected

The maximum number of keypoints to return.

Definition at line 252 of file agast_2d.h.

Referenced by AbstractAgastDetector(), getMaxKeypoints(), and setMaxKeypoints().

◆ threshold_

double pcl::keypoints::agast::AbstractAgastDetector::threshold_

protected

Threshold for corner detection.

Definition at line 249 of file agast_2d.h.

Referenced by AbstractAgastDetector(), getThreshold(), and setThreshold().

◆ width_

std::size_t pcl::keypoints::agast::AbstractAgastDetector::width_

protected

Width of the image to process.

Definition at line 244 of file agast_2d.h.

Referenced by AbstractAgastDetector().

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

pcl/keypoints/agast_2d.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ AbstractAgastDetector()

◆ ~AbstractAgastDetector()

Member Function Documentation

◆ applyNonMaxSuppression() [1/3]

◆ applyNonMaxSuppression() [2/3]

◆ applyNonMaxSuppression() [3/3]

◆ computeCornerScore() [1/2]

◆ computeCornerScore() [2/2]

◆ computeCornerScores() [1/2]

◆ computeCornerScores() [2/2]

◆ detect() [1/2]

◆ detect() [2/2]

◆ detectKeypoints() [1/2]

◆ detectKeypoints() [2/2]

◆ getMaxKeypoints()

◆ getThreshold()

◆ initPattern()

◆ setMaxKeypoints()

◆ setThreshold()

Member Data Documentation

◆ bmax_

◆ height_

◆ nr_max_keypoints_

◆ threshold_

◆ width_