pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV > Class Reference

Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

Inheritance diagram for pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >:

Collaboration diagram for pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >:

Public Types
using	PointCloudOut
Public Types inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >
using	PointCloudIn
using	PointCloudOut
using	KdTree
using	PointCloudInConstPtr
using	AgastDetectorPtr
Public Types inherited from pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >
using	Ptr
using	ConstPtr
using	BaseClass
using	KdTree
using	KdTreePtr
using	PointCloudIn
using	PointCloudInPtr
using	PointCloudInConstPtr
using	PointCloudOut
using	SearchMethod
using	SearchMethodSurface
Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
using	PointIndicesPtr
using	PointIndicesConstPtr

Public Member Functions
	AgastKeypoint2D ()
	Constructor.
	~AgastKeypoint2D () override=default
	Destructor.
	AgastKeypoint2D ()
	Constructor.
	~AgastKeypoint2D () override=default
	Destructor.
Public Member Functions inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >
	AgastKeypoint2DBase ()
	Constructor.
	~AgastKeypoint2DBase () override=default
	Destructor.
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.
void	setMaxDataValue (const double bmax)
	Sets the max image data value (affects how many iterations AGAST does)
double	getMaxDataValue ()
	Get the bmax image value, as set by the user.
void	setNonMaxSuppression (const bool enabled)
	Sets whether non-max-suppression is applied or not.
bool	getNonMaxSuppression ()
	Returns whether non-max-suppression is applied or not.
void	setAgastDetector (const AgastDetectorPtr &detector)
AgastDetectorPtr	getAgastDetector ()
Public Member Functions inherited from pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >
	Keypoint ()=default
	Keypoint ()
	Empty constructor.
void	harrisCorner (pcl::PointXYZ &output, pcl::PointXYZ &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
void	hessianBlob (pcl::PointXYZ &output, pcl::PointXYZ &input, const float sigma, bool SCALE)
void	hessianBlob (pcl::PointXYZ &output, pcl::PointXYZ &input, const float start_scale, const float scaling_factor, const int num_scales)
void	imageElementMultiply (pcl::PointXYZ &output, pcl::PointXYZ &input1, pcl::PointXYZ &input2)
	~Keypoint () override=default
	Empty destructor.
virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for.
PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
double	getSearchParameter ()
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors.
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 ()
int	searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
void	detectKeypoints (pcl::PointCloud< pcl::PointUV > &output) override
	Detects the keypoints.
void	detectKeypoints (PointCloudOut &output) override
	Detects the keypoints.
Protected Member Functions inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >
bool	initCompute () override
	Initializes everything and checks whether input data is fine.
Protected Member Functions inherited from pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Additional Inherited Members
Protected Attributes inherited from pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >
pcl::common::IntensityFieldAccessor< pcl::PointXYZ >	intensity_
	Intensity field accessor.
double	threshold_
	Threshold for corner detection.
bool	apply_non_max_suppression_
	Determines whether non-max-suppression is activated.
double	bmax_
	Max image value.
AgastDetectorPtr	detector_
	The Agast detector to use.
unsigned int	nr_max_keypoints_
	The maximum number of keypoints to return.
Protected Attributes inherited from pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >
std::string	name_
	The key point detection method's name.
SearchMethod	search_method_
	The search method template for indices.
SearchMethodSurface	search_method_surface_
	The search method template for points.
PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation.
KdTreePtr	tree_
	A pointer to the spatial search object.
double	search_parameter_
	The actual search parameter (casted from either search_radius_ or k_).
double	search_radius_
	The nearest neighbors search radius for each point.
int	k_
	The number of K nearest neighbors to use for each point.
pcl::PointIndicesPtr	keypoints_indices_
	Indices of the keypoints in the input cloud.
Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

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.

Code example:

pcl::PointCloud<pcl::PointXYZRGBA> cloud;
pcl::AgastKeypoint2D<pcl::PointXYZRGBA> agast;
agast.setThreshold (30);
agast.setInputCloud (cloud);
 
PointCloud<pcl::PointUV> keypoints;
agast.compute (keypoints);

Note

This is a specialized version for PointXYZ clouds, and operates on depth (z) as float. The output keypoints are of the PointXY type.

The AGAST keypoint type used is 7_12s.

Author

Stefan Holzer, Radu B. Rusu

Definition at line 775 of file agast_2d.h.

Member Typedef Documentation

PointCloudOut

using pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::PointCloudOut

Definition at line 718 of file agast_2d.h.

Constructor & Destructor Documentation

AgastKeypoint2D() [1/2]

pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::AgastKeypoint2D ( )

inline

Constructor.

Definition at line 780 of file agast_2d.h.

References pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::bmax_, and pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::name_.

~AgastKeypoint2D() [1/2]

pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::~AgastKeypoint2D ( )

overridedefault

Destructor.

AgastKeypoint2D() [2/2]

pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::AgastKeypoint2D ( )

inline

Constructor.

Definition at line 732 of file agast_2d.h.

~AgastKeypoint2D() [2/2]

pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::~AgastKeypoint2D ( )

overridedefault

Destructor.

Member Function Documentation

detectKeypoints() [1/2]

void pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::detectKeypoints ( pcl::PointCloud< pcl::PointUV > & output )

overrideprotected

Detects the keypoints.

Parameters

[out]

output

the resultant keypoints

detectKeypoints() [2/2]

void pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::detectKeypoints ( PointCloudOut & output )

overrideprotectedvirtual

Detects the keypoints.

Parameters

[out]

output

the resultant keypoints

Implements pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >.

Definition at line 745 of file agast_2d.hpp.

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

• pcl/keypoints/agast_2d.h
• pcl/keypoints/impl/agast_2d.hpp