Detector class for AGAST corner point detector (OAST 9_16).
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#include <pcl/keypoints/agast_2d.h>
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| OastDetector9_16 (const std::size_t width, const std::size_t height, const double threshold, const double bmax=255) |
| Constructor.
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| ~OastDetector9_16 () override=default |
| Destructor.
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int | computeCornerScore (const unsigned char *im) const override |
| Computes corner score.
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int | computeCornerScore (const float *im) const override |
| Computes corner score.
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void | detect (const unsigned char *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const override |
| Detects points of interest (i.e., keypoints) in the given image.
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void | detect (const float *im, std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > &corners_all) const override |
| Detects points of interest (i.e., keypoints) in the given image.
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| AbstractAgastDetector (const std::size_t width, const std::size_t height, const double threshold, const double bmax) |
| Constructor.
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virtual | ~AbstractAgastDetector ()=default |
| Destructor.
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void | detectKeypoints (const std::vector< unsigned char > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const |
| Detects corner points.
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void | detectKeypoints (const std::vector< float > &intensity_data, pcl::PointCloud< pcl::PointUV > &output) const |
| Detects corner points.
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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.
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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.
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void | setThreshold (const double threshold) |
| Sets the threshold for corner detection.
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double | getThreshold () |
| Get the threshold for corner detection, as set by the user.
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void | setMaxKeypoints (const unsigned int nr_max_keypoints) |
| Sets the maximum number of keypoints to return.
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unsigned int | getMaxKeypoints () |
| Get the maximum number of keypoints to return, as set by the user.
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std::size_t | width_ |
| Width of the image to process.
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std::size_t | height_ |
| Height of the image to process.
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double | threshold_ |
| Threshold for corner detection.
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unsigned int | nr_max_keypoints_ |
| The maximum number of keypoints to return.
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double | bmax_ |
| Max image value.
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Detector class for AGAST corner point detector (OAST 9_16).
Adapted from the C++ implementation of Elmar Mair (http://www6.in.tum.de/Main/ResearchAgast).
- Author
- Stefan Holzer
Definition at line 408 of file agast_2d.h.
◆ ConstPtr
◆ Ptr
◆ OastDetector9_16()
pcl::keypoints::agast::OastDetector9_16::OastDetector9_16 |
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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 = 255 |
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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 420 of file agast_2d.h.
◆ ~OastDetector9_16()
pcl::keypoints::agast::OastDetector9_16::~OastDetector9_16 |
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overridedefault |
◆ computeCornerScore() [1/2]
int pcl::keypoints::agast::OastDetector9_16::computeCornerScore |
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const float * |
im | ) |
const |
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overridevirtual |
◆ computeCornerScore() [2/2]
int pcl::keypoints::agast::OastDetector9_16::computeCornerScore |
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const unsigned char * |
im | ) |
const |
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overridevirtual |
◆ detect() [1/2]
void pcl::keypoints::agast::OastDetector9_16::detect |
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const float * |
im, |
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std::vector< pcl::PointUV, Eigen::aligned_allocator< pcl::PointUV > > & |
corners_all |
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| const |
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overridevirtual |
Detects points of interest (i.e., keypoints) in the given image.
- Parameters
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[in] | im | the image to detect keypoints in |
[out] | corners_all | the resultant set of keypoints detected |
Implements pcl::keypoints::agast::AbstractAgastDetector.
◆ detect() [2/2]
void pcl::keypoints::agast::OastDetector9_16::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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| const |
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overridevirtual |
Detects points of interest (i.e., keypoints) in the given image.
- Parameters
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[in] | im | the image to detect keypoints in |
[out] | corners_all | the resultant set of keypoints detected |
Implements pcl::keypoints::agast::AbstractAgastDetector.
◆ initPattern()
void pcl::keypoints::agast::OastDetector9_16::initPattern |
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overrideprotectedvirtual |
The documentation for this class was generated from the following file: