pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV > Class Template Reference
[Module keypoints]

Detects 2D AGAST corner points. More...

#include <pcl/keypoints/agast_2d.h>

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

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

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List of all members.

Public Member Functions
	AgastKeypoint2D ()
	Constructor.
virtual	~AgastKeypoint2D ()
	Destructor.
Protected Member Functions
virtual void	detectKeypoints (pcl::PointCloud< pcl::PointUV > &output)
	Detects the keypoints.

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Detailed Description

template<>
class pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >

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 815 of file agast_2d.h.

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Constructor & Destructor Documentation

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

(

)

[inline]

Constructor.

Definition at line 820 of file agast_2d.h.

References pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >::bmax_, and pcl::Keypoint< PointInT, PointOutT >::name_.

virtual pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::~AgastKeypoint2D

(

)

[inline, virtual]

Destructor.

Definition at line 827 of file agast_2d.h.

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Member Function Documentation

virtual void pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::detectKeypoints

(

pcl::PointCloud< pcl::PointUV > &

output

)

[protected, virtual]

Detects the keypoints.

Parameters:

[out]

output

the resultant keypoints

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

• /builddir/build/BUILD/pcl-pcl-1.7.1/keypoints/include/pcl/keypoints/agast_2d.h