agast_2d.hpp
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_
#define PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_
#include <pcl/common/io.h>
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT, typename IntensityT> bool
pcl::AgastKeypoint2DBase<PointInT, PointOutT, IntensityT>::initCompute ()
{
if (!pcl::Keypoint<PointInT, PointOutT>::initCompute ())
{
PCL_ERROR ("[pcl::%s::initCompute] init failed.!\n", name_.c_str ());
return (false);
}
if (!input_->isOrganized ())
{
PCL_ERROR ("[pcl::%s::initCompute] %s doesn't support non organized clouds!\n", name_.c_str ());
return (false);
}
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
pcl::AgastKeypoint2D<PointInT, PointOutT>::detectKeypoints (PointCloudOut &output)
{
// image size
const size_t width = input_->width;
const size_t height = input_->height;
// destination for intensity data; will be forwarded to AGAST
std::vector<unsigned char> image_data (width*height);
for (size_t i = 0; i < image_data.size (); ++i)
image_data[i] = static_cast<unsigned char> (intensity_ ((*input_)[i]));
if (!detector_)
detector_.reset (new pcl::keypoints::agast::AgastDetector7_12s (width, height, threshold_, bmax_));
detector_->setMaxKeypoints (nr_max_keypoints_);
if (apply_non_max_suppression_)
{
pcl::PointCloud<pcl::PointUV> tmp_cloud;
detector_->detectKeypoints (image_data, tmp_cloud);
pcl::keypoints::internal::AgastApplyNonMaxSuppresion<PointOutT> anms (
image_data, tmp_cloud, detector_, output);
}
else
{
pcl::keypoints::internal::AgastDetector<PointOutT> dec (
image_data, detector_, output);
}
// we do not change the denseness
output.is_dense = true;
}
#define AgastKeypoint2D(T,I) template class PCL_EXPORTS pcl::AgastKeypoint2D<T,I>;
#endif
pcl::keypoints::agast::AgastDetector7_12s
Detector class for AGAST corner point detector (7_12s).
Definition: agast_2d.h:264
pcl::AgastKeypoint2D::detectKeypoints
virtual void detectKeypoints(PointCloudOut &output)
Detects the keypoints.
Definition: agast_2d.hpp:65
pcl::Keypoint
Keypoint represents the base class for key points.
Definition: keypoint.h:55
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::AgastKeypoint2DBase::initCompute
bool initCompute()
Initializes everything and checks whether input data is fine.
Definition: agast_2d.hpp:46
pcl::PointCloud::is_dense
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values).
Definition: point_cloud.h:418
pcl::keypoints::internal::AgastDetector
Definition: agast_2d.h:542
pcl::keypoints::internal::AgastApplyNonMaxSuppresion
Definition: agast_2d.h:513