代码拉取完成，页面将自动刷新
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.17"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Point Cloud Library (PCL): pcl/keypoints/agast_2d.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">Point Cloud Library (PCL)
 <span id="projectnumber">1.11.1-dev</span>
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.17 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_4a4d1c99ac52d5ca0a36cfe66db35c11.html">pcl</a></li><li class="navelem"><a class="el" href="dir_332474dc54987637ffa2f6efab54cb50.html">keypoints</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">agast_2d.h</div> </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <array></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <pcl/keypoints/keypoint.h></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <pcl/common/intensity.h></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <pcl/common/io.h></span> <span class="comment">// for copyPointCloud</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> {</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="namespacepcl_1_1keypoints.html"> 51</a></span>  <span class="keyword">namespace </span>keypoints</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="namespacepcl_1_1keypoints_1_1agast.html"> 53</a></span>  <span class="keyword">namespace </span>agast</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"></span> </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> /** \brief Abstract detector class for AGAST corner point detectors.</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> * Adapted from the C++ implementation of Elmar Mair </span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> * (http://www6.in.tum.de/Main/ResearchAgast).</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> * \author Stefan Holzer</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> * \ingroup keypoints</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html"> 64</a></span>  <span class="keyword">class </span><a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html">AbstractAgastDetector</a></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  {</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15"> 67</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">Ptr</a> = shared_ptr<AbstractAgastDetector>;</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a58f93542a0f46feed2ce791549ac0790"> 68</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a58f93542a0f46feed2ce791549ac0790">ConstPtr</a> = shared_ptr<const AbstractAgastDetector>;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"></span> </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> /** \brief Constructor. </span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> * \param[in] width the width of the image to process</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> * \param[in] height the height of the image to process</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> * \param[in] threshold the corner detection threshold</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> * \param[in] bmax the max image value (default: 255)</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a001b850a48eacb35566a468b8f07d170"> 76</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a001b850a48eacb35566a468b8f07d170">AbstractAgastDetector</a> (<span class="keyword">const</span> std::size_t width, </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">const</span> std::size_t height, </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> threshold,</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> bmax) </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  : width_ (width)</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  , height_ (height)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  , threshold_ (threshold)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  , nr_max_keypoints_ (std::numeric_limits<unsigned int>::max ())</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  , bmax_ (bmax)</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  {}</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"></span> </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"> /** \brief Destructor. */</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a2702b38fea665659346b2c692485eb82"> 88</a></span>  <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a2702b38fea665659346b2c692485eb82">~AbstractAgastDetector</a> () {}</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"></span> </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> /** \brief Detects corner points. </span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> * \param intensity_data</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> * \param output</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  detectKeypoints (<span class="keyword">const</span> std::vector<unsigned char> &intensity_data, </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"></span> </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> /** \brief Detects corner points. </span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> * \param intensity_data</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"> * \param output</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  detectKeypoints (<span class="keyword">const</span> std::vector<float> &intensity_data, </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"></span> </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> /** \brief Applies non-max-suppression. </span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> * \param[in] intensity_data the image data</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> * \param[in] input the keypoint positions</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> * \param[out] output the resultant keypoints after non-max-supression</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  applyNonMaxSuppression (<span class="keyword">const</span> std::vector<unsigned char>& intensity_data, </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &input, </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &output);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"></span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> /** \brief Applies non-max-suppression. </span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> * \param[in] intensity_data the image data</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> * \param[in] input the keypoint positions</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"> * \param[out] output the resultant keypoints after non-max-supression</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  applyNonMaxSuppression (<span class="keyword">const</span> std::vector<float>& intensity_data, </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &input, </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &output);</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"></span> </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> /** \brief Computes corner score. </span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"> * \param[in] im the pixels to compute the score at</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keyword">virtual</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  computeCornerScore (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"></span> </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> /** \brief Computes corner score. </span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> * \param[in] im the pixels to compute the score at</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keyword">virtual</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  computeCornerScore (<span class="keyword">const</span> <span class="keywordtype">float</span>* im) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"></span> </div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> /** \brief Sets the threshold for corner detection.</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"> * \param[in] threshold the threshold used for corner detection.</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a6846bbbbd9b4d6d063613a7fc454314d"> 142</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a6846bbbbd9b4d6d063613a7fc454314d">setThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> threshold)</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  {</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  threshold_ = threshold;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"></span> </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"> /** \brief Get the threshold for corner detection, as set by the user. */</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a68693f48efdc32fc292da634f187b7a2"> 149</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a68693f48efdc32fc292da634f187b7a2">getThreshold</a> ()</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  {</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">return</span> (threshold_);</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  }</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="comment"></span> </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="comment"> /** \brief Sets the maximum number of keypoints to return. The</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"> * estimated keypoints are sorted by their internal score.</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"> * \param[in] nr_max_keypoints set the maximum number of keypoints to return</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a2712d02a6b0264813ec631c2926d3bbb"> 159</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a2712d02a6b0264813ec631c2926d3bbb">setMaxKeypoints</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_max_keypoints)</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  {</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  nr_max_keypoints_ = nr_max_keypoints;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  }</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="comment"></span> </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="comment"> /** \brief Get the maximum number of keypoints to return, as set by the user. */</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a53415de44dc2ae2728013a4ca85af15c"> 166</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a53415de44dc2ae2728013a4ca85af15c">getMaxKeypoints</a> ()</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  {</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">return</span> (nr_max_keypoints_);</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  }</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"></span> </div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> /** \brief Detects points of interest (i.e., keypoints) in the given image</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="comment"> * \param[in] im the image to detect keypoints in </span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> <span class="comment"> * \param[out] corners_all the resultant set of keypoints detected</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  detect (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im, </div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="comment"></span> </div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment"> /** \brief Detects points of interest (i.e., keypoints) in the given image</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment"> * \param[in] im the image to detect keypoints in </span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  detect (<span class="keyword">const</span> <span class="keywordtype">float</span>* im, </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > &) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment"></span> </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment"> /** \brief Structure holding an index and the associated keypoint score. */</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html"> 189</a></span>  <span class="keyword">struct </span><a class="code" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html">ScoreIndex</a></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  {</div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html#a577047265f96ccf54a1660f290ae66c4"> 191</a></span>  <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html#a577047265f96ccf54a1660f290ae66c4">idx</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html#af539e2451782144c52e3b4a826a291cd"> 192</a></span>  <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html#af539e2451782144c52e3b4a826a291cd">score</a>;</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  };</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment"></span> </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="comment"> /** \brief Score index comparator. */</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_compare_score_index.html"> 196</a></span>  <span class="keyword">struct </span><a class="code" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_compare_score_index.html">CompareScoreIndex</a></div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  {<span class="comment"></span></div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"> /** \brief Comparator</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment"> * \param[in] i1 the first score index</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="comment"> * \param[in] i2 the second score index</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_compare_score_index.html#a2cc442e6dc5e9a75ce6d976f18776c88"> 203</a></span>  operator() (<span class="keyword">const</span> <a class="code" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html">ScoreIndex</a> &i1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html">ScoreIndex</a> &i2)</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  {</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">return</span> (i1.<a class="code" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html#af539e2451782144c52e3b4a826a291cd">score</a> > i2.<a class="code" href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html#af539e2451782144c52e3b4a826a291cd">score</a>);</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  }</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  };</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="comment"></span> </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="comment"> /** \brief Initializes the sample pattern. */</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  initPattern () = 0;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="comment"></span> </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="comment"> /** \brief Non-max-suppression helper method.</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="comment"> * \param[in] input the keypoint positions</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="comment"> * \param[in] scores the keypoint scores computed on the image data</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="comment"> * \param[out] output the resultant keypoints after non-max-supression</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  applyNonMaxSuppression (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &input, </div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keyword">const</span> std::vector<ScoreIndex>& scores, </div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &output);</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="comment"></span> </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> <span class="comment"> /** \brief Computes corner scores for the specified points. </span></div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="comment"> * \param im</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="comment"> * \param corners_all</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="comment"> * \param scores</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  computeCornerScores (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im, </div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keyword">const</span> std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > & corners_all, </div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  std::vector<ScoreIndex> & scores) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> <span class="comment"></span> </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="comment"> /** \brief Computes corner scores for the specified points. </span></div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="comment"> * \param im</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> <span class="comment"> * \param corners_all</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="comment"> * \param scores</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  computeCornerScores (<span class="keyword">const</span> <span class="keywordtype">float</span>* im, </div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keyword">const</span> std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > & corners_all, </div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  std::vector<ScoreIndex> & scores) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment"></span> </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"> /** \brief Width of the image to process. */</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#abf4c33f034bdd93a5b9a2f14fcaea9de"> 244</a></span>  std::size_t <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#abf4c33f034bdd93a5b9a2f14fcaea9de">width_</a>;<span class="comment"></span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="comment"> /** \brief Height of the image to process. */</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a93aeed3f4fe69295bfe21efb85bdf4be"> 246</a></span>  std::size_t <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a93aeed3f4fe69295bfe21efb85bdf4be">height_</a>;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="comment"></span> </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="comment"> /** \brief Threshold for corner detection. */</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a28fdd805e64e27e97e26522eef5d86f1"> 249</a></span>  <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a28fdd805e64e27e97e26522eef5d86f1">threshold_</a>;</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <span class="comment"></span> </div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="comment"> /** \brief The maximum number of keypoints to return. */</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#aad57d4be9cd0653695650608644fb820"> 252</a></span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#aad57d4be9cd0653695650608644fb820">nr_max_keypoints_</a>;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment"></span> </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment"> /** \brief Max image value. */</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#af1b1c542c9a00d96bb2d00b0c8d43f4f"> 255</a></span>  <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#af1b1c542c9a00d96bb2d00b0c8d43f4f">bmax_</a>;</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  };</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="comment"></span> </div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="comment"> /** \brief Detector class for AGAST corner point detector (7_12s). </span></div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"> * Adapted from the C++ implementation of Elmar Mair </span></div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="comment"> * (http://www6.in.tum.de/Main/ResearchAgast).</span></div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="comment"> * \author Stefan Holzer</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="comment"> * \ingroup keypoints</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html"> 266</a></span>  <span class="keyword">class </span><a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html">AgastDetector7_12s</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html">AbstractAgastDetector</a></div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html#acae075d2dcbb8a8bf7135878d354ca59"> 269</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">Ptr</a> = shared_ptr<AgastDetector7_12s>;</div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html#a467d0f2a9a35c916da74b3ab94bf8c53"> 270</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a58f93542a0f46feed2ce791549ac0790">ConstPtr</a> = shared_ptr<const AgastDetector7_12s>;</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment"></span> </div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"> /** \brief Constructor. </span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="comment"> * \param[in] width the width of the image to process</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="comment"> * \param[in] height the height of the image to process</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> <span class="comment"> * \param[in] threshold the corner detection threshold</span></div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> <span class="comment"> * \param[in] bmax the max image value (default: 255)</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html#a3076c8763a5e3c3f761c5a54c204c241"> 278</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html#a3076c8763a5e3c3f761c5a54c204c241">AgastDetector7_12s</a> (<span class="keyword">const</span> std::size_t width, </div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keyword">const</span> std::size_t height, </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> threshold,</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> bmax = 255) </div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  : <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html">AbstractAgastDetector</a> (width, height, threshold, bmax)</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  {</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  initPattern ();</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  }</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> <span class="comment"></span> </div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="comment"> /** \brief Destructor. */</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html#aff17278915c31c69d59cab89da167255"> 288</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html#aff17278915c31c69d59cab89da167255">~AgastDetector7_12s</a> () {}</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="comment"></span> </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment"> /** \brief Computes corner score. </span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="comment"> * \param im </span></div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  computeCornerScore (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="comment"></span> </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="comment"> /** \brief Computes corner score. </span></div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="comment"> * \param im </span></div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  computeCornerScore (<span class="keyword">const</span> <span class="keywordtype">float</span>* im) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment"></span> </div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="comment"> /** \brief Detects points of interest (i.e., keypoints) in the given image</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="comment"> * \param[in] im the image to detect keypoints in </span></div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"> * \param[out] corners_all the resultant set of keypoints detected</span></div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  detect (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im, std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> <span class="comment"></span> </div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="comment"> /** \brief Detects points of interest (i.e., keypoints) in the given image</span></div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="comment"> * \param[in] im the image to detect keypoints in </span></div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span> <span class="comment"> * \param[out] corners_all the resultant set of keypoints detected</span></div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  detect (<span class="keyword">const</span> <span class="keywordtype">float</span>* im, std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  </div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="comment"> /** \brief Initializes the sample pattern. */</span></div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  initPattern () <span class="keyword">override</span>;</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  </div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keyword">private</span>:<span class="comment"></span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="comment"> /** \brief Border width. */</span></div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> border_width_ = 2;</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  </div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="comment">// offsets defining the sample pattern</span></div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  std::array<std::int_fast16_t, 12> offset_;</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  };</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> <span class="comment"></span> </div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="comment"> /** \brief Detector class for AGAST corner point detector (5_8). </span></div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="comment"> * Adapted from the C++ implementation of Elmar Mair </span></div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="comment"> * (http://www6.in.tum.de/Main/ResearchAgast).</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> <span class="comment"> * \author Stefan Holzer</span></div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment"> * \ingroup keypoints</span></div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html"> 337</a></span>  <span class="keyword">class </span><a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html">AgastDetector5_8</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html">AbstractAgastDetector</a></div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  {</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html#aee86b458db064458828747eba936d1b1"> 340</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">Ptr</a> = shared_ptr<AgastDetector5_8>;</div>
<div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html#ac2f35f412ce3562381e70e369e1d6026"> 341</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a58f93542a0f46feed2ce791549ac0790">ConstPtr</a> = shared_ptr<const AgastDetector5_8>;</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="comment"></span> </div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> <span class="comment"> /** \brief Constructor. </span></div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> <span class="comment"> * \param[in] width the width of the image to process</span></div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> <span class="comment"> * \param[in] height the height of the image to process</span></div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="comment"> * \param[in] threshold the corner detection threshold</span></div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> <span class="comment"> * \param[in] bmax the max image value (default: 255)</span></div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html#a831a08fe74af1042103d4bff94d8f9cf"> 349</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html#a831a08fe74af1042103d4bff94d8f9cf">AgastDetector5_8</a> (<span class="keyword">const</span> std::size_t width, </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keyword">const</span> std::size_t height, </div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> threshold,</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> bmax = 255) </div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  : <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html">AbstractAgastDetector</a> (width, height, threshold, bmax)</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  {</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  initPattern ();</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  }</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span> <span class="comment"></span> </div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span> <span class="comment"> /** \brief Destructor. */</span></div>
<div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html#abb5851e7c9180419066fb660f5c1da60"> 359</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html#abb5851e7c9180419066fb660f5c1da60">~AgastDetector5_8</a> () {}</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <span class="comment"></span> </div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span> <span class="comment"> /** \brief Computes corner score. </span></div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> <span class="comment"> * \param im </span></div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  computeCornerScore (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> <span class="comment"></span> </div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> <span class="comment"> /** \brief Computes corner score. </span></div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> <span class="comment"> * \param im </span></div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  computeCornerScore (<span class="keyword">const</span> <span class="keywordtype">float</span>* im) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> <span class="comment"></span> </div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> <span class="comment"> /** \brief Detects points of interest (i.e., keypoints) in the given image</span></div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> <span class="comment"> * \param[in] im the image to detect keypoints in </span></div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> <span class="comment"> * \param[out] corners_all the resultant set of keypoints detected</span></div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  detect (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im, std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span> <span class="comment"></span> </div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span> <span class="comment"> /** \brief Detects points of interest (i.e., keypoints) in the given image</span></div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span> <span class="comment"> * \param[in] im the image to detect keypoints in </span></div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span> <span class="comment"> * \param[out] corners_all the resultant set of keypoints detected</span></div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  detect (<span class="keyword">const</span> <span class="keywordtype">float</span>* im, std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  </div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> <span class="comment"> /** \brief Initializes the sample pattern. */</span></div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  initPattern () <span class="keyword">override</span>;</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  </div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <span class="keyword">private</span>:<span class="comment"></span></div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> <span class="comment"> /** \brief Border width. */</span></div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> border_width_ = 1;</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  </div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="comment">// offsets defining the sample pattern</span></div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  std::array<std::int_fast16_t, 8> offset_;</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  };</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> <span class="comment"></span> </div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> <span class="comment"> /** \brief Detector class for AGAST corner point detector (OAST 9_16). </span></div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span> <span class="comment"> * Adapted from the C++ implementation of Elmar Mair </span></div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span> <span class="comment"> * (http://www6.in.tum.de/Main/ResearchAgast).</span></div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> <span class="comment"> * \author Stefan Holzer</span></div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span> <span class="comment"> * \ingroup keypoints</span></div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00408"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html"> 408</a></span>  <span class="keyword">class </span><a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html">OastDetector9_16</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html">AbstractAgastDetector</a></div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  {</div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00411"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html#a9b52647ed07831654bc3a56b1e30efa6"> 411</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">Ptr</a> = shared_ptr<OastDetector9_16>;</div>
<div class="line"><a name="l00412"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html#ab96cbc620549dd78bf537e7713fd9e00"> 412</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a58f93542a0f46feed2ce791549ac0790">ConstPtr</a> = shared_ptr<const OastDetector9_16>;</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> <span class="comment"></span> </div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span> <span class="comment"> /** \brief Constructor. </span></div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span> <span class="comment"> * \param[in] width the width of the image to process</span></div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span> <span class="comment"> * \param[in] height the height of the image to process</span></div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span> <span class="comment"> * \param[in] threshold the corner detection threshold</span></div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span> <span class="comment"> * \param[in] bmax the max image value (default: 255)</span></div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html#a26720817e798da6cf60076fddfc4265d"> 420</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html#a26720817e798da6cf60076fddfc4265d">OastDetector9_16</a> (<span class="keyword">const</span> std::size_t width, </div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <span class="keyword">const</span> std::size_t height, </div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> threshold,</div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> bmax = 255) </div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  : <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html">AbstractAgastDetector</a> (width, height, threshold, bmax)</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  {</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  initPattern ();</div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  }</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span> <span class="comment"></span> </div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span> <span class="comment"> /** \brief Destructor. */</span></div>
<div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html#a82a7102497c0969ef372050e0767619d"> 430</a></span>  <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html#a82a7102497c0969ef372050e0767619d">~OastDetector9_16</a> () {}</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span> <span class="comment"></span> </div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span> <span class="comment"> /** \brief Computes corner score. </span></div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span> <span class="comment"> * \param im </span></div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  computeCornerScore (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span> <span class="comment"></span> </div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span> <span class="comment"> /** \brief Computes corner score. </span></div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span> <span class="comment"> * \param im </span></div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  computeCornerScore (<span class="keyword">const</span> <span class="keywordtype">float</span>* im) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> <span class="comment"></span> </div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span> <span class="comment"> /** \brief Detects points of interest (i.e., keypoints) in the given image</span></div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span> <span class="comment"> * \param[in] im the image to detect keypoints in </span></div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span> <span class="comment"> * \param[out] corners_all the resultant set of keypoints detected</span></div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  detect (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* im, std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span> <span class="comment"></span> </div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span> <span class="comment"> /** \brief Detects points of interest (i.e., keypoints) in the given image</span></div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span> <span class="comment"> * \param[in] im the image to detect keypoints in </span></div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span> <span class="comment"> * \param[out] corners_all the resultant set of keypoints detected</span></div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  detect (<span class="keyword">const</span> <span class="keywordtype">float</span>* im, std::vector<<a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  </div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span> <span class="comment"> /** \brief Initializes the sample pattern. */</span></div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  initPattern () <span class="keyword">override</span>;</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  </div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  <span class="keyword">private</span>:<span class="comment"></span></div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span> <span class="comment"> /** \brief Border width. */</span></div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> border_width_ = 3;</div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  </div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="comment">// offsets defining the sample pattern</span></div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  std::array<std::int_fast16_t, 16> offset_;</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  };</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  } <span class="comment">// namespace agast</span></div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  } <span class="comment">// namespace keypoints</span></div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span> <span class="comment"></span> </div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span> <span class="comment"></span> <span class="keyword">namespace </span>keypoints</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  {</div>
<div class="line"><a name="l00478"></a><span class="lineno"><a class="line" href="namespacepcl_1_1keypoints_1_1internal.html"> 478</a></span>  <span class="keyword">namespace </span>internal</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  {<span class="comment"></span></div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span> <span class="comment"></span> <span class="keyword">template</span> <<span class="keyword">typename</span> Out> </div>
<div class="line"><a name="l00482"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html"> 482</a></span>  <span class="keyword">struct </span><a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html">AgastApplyNonMaxSuppresion</a></div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  {</div>
<div class="line"><a name="l00484"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html#ab6366ff352c57ec90fa4ef0bce8354fe"> 484</a></span>  <a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html#ab6366ff352c57ec90fa4ef0bce8354fe">AgastApplyNonMaxSuppresion</a> (</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <span class="keyword">const</span> std::vector<unsigned char> &image_data, </div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &tmp_cloud,</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">pcl::keypoints::agast::AbstractAgastDetector::Ptr</a> &detector,</div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<Out></a> &output)</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  {</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> output_temp;</div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  detector->applyNonMaxSuppression (image_data, tmp_cloud, output_temp);</div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <a class="code" href="group__common.html#gaff182bca8d0295d727baaa1fd368c6ad">pcl::copyPointCloud</a> (output_temp, output);</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  }</div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  };</div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span> <span class="comment"></span> </div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> <span class="comment"></span> <span class="keyword">template</span> <></div>
<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion_3_01pcl_1_1_point_u_v_01_4.html"> 498</a></span>  <span class="keyword">struct </span><a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html">AgastApplyNonMaxSuppresion</a><<a class="code" href="namespacepcl.html">pcl</a>::<a class="code" href="structpcl_1_1_point_u_v.html">PointUV</a>></div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  {</div>
<div class="line"><a name="l00500"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion_3_01pcl_1_1_point_u_v_01_4.html#a089eba8f56916096e0e17d95056b2e30"> 500</a></span>  <a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion_3_01pcl_1_1_point_u_v_01_4.html#a089eba8f56916096e0e17d95056b2e30">AgastApplyNonMaxSuppresion</a> (</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <span class="keyword">const</span> std::vector<unsigned char> &image_data, </div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &tmp_cloud,</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">pcl::keypoints::agast::AbstractAgastDetector::Ptr</a> &detector,</div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &output)</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  {</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  detector->applyNonMaxSuppression (image_data, tmp_cloud, output);</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  }</div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  };<span class="comment"></span></div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span> <span class="comment"></span> <span class="keyword">template</span> <<span class="keyword">typename</span> Out> </div>
<div class="line"><a name="l00511"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html"> 511</a></span>  <span class="keyword">struct </span><a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html">AgastDetector</a></div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  {</div>
<div class="line"><a name="l00513"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html#a0149c646ff8d8b2ea45d03dfd668920b"> 513</a></span>  <a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html#a0149c646ff8d8b2ea45d03dfd668920b">AgastDetector</a> (</div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  <span class="keyword">const</span> std::vector<unsigned char> &image_data, </div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">pcl::keypoints::agast::AbstractAgastDetector::Ptr</a> &detector,</div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<Out></a> &output)</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  {</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> output_temp;</div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  detector->detectKeypoints (image_data, output_temp);</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <a class="code" href="group__common.html#gaff182bca8d0295d727baaa1fd368c6ad">pcl::copyPointCloud</a> (output_temp, output);</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  }</div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  };</div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span> <span class="comment"></span> </div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span> <span class="comment"></span> <span class="keyword">template</span> <></div>
<div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector_3_01pcl_1_1_point_u_v_01_4.html"> 526</a></span>  <span class="keyword">struct </span><a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html">AgastDetector</a><<a class="code" href="namespacepcl.html">pcl</a>::<a class="code" href="structpcl_1_1_point_u_v.html">PointUV</a>></div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  {</div>
<div class="line"><a name="l00528"></a><span class="lineno"><a class="line" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector_3_01pcl_1_1_point_u_v_01_4.html#a8b279bd41ba07b45833b6ef1227e54d5"> 528</a></span>  <a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector_3_01pcl_1_1_point_u_v_01_4.html#a8b279bd41ba07b45833b6ef1227e54d5">AgastDetector</a> (</div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  <span class="keyword">const</span> std::vector<unsigned char> &image_data, </div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">pcl::keypoints::agast::AbstractAgastDetector::Ptr</a> &detector,</div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &output)</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  {</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  detector->detectKeypoints (image_data, output);</div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  }</div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  };</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  } <span class="comment">// namespace agast</span></div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  } <span class="comment">// namespace keypoints</span></div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span> <span class="comment"></span> </div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> <span class="comment"></span><span class="comment"> /** \brief Detects 2D AGAST corner points. Based on the original work and</span></div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span> <span class="comment"> * paper reference by</span></div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span> <span class="comment"> * \par</span></div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span> <span class="comment"> * Elmar Mair, Gregory D. Hager, Darius Burschka, Michael Suppa, and Gerhard Hirzinger. </span></div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span> <span class="comment"> * Adaptive and generic corner detection based on the accelerated segment test. </span></div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span> <span class="comment"> * In Proceedings of the European Conference on Computer Vision (ECCV'10), September 2010.</span></div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span> <span class="comment"> * \note This is an abstract base class. All children must implement a detectKeypoints method, based on the type of AGAST keypoint to be used.</span></div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span> <span class="comment"> * \author Stefan Holzer, Radu B. Rusu</span></div>
<div class="line"><a name="l00553"></a><span class="lineno"> 553</span> <span class="comment"> * \ingroup keypoints</span></div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> IntensityT = pcl::common::IntensityFieldAccessor<Po<span class="keywordtype">int</span>InT> ></div>
<div class="line"><a name="l00556"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html"> 556</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a><PointInT, PointOutT></div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  {</div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00559"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#ac7487970e7574e0c18b6018ae0c44fc7"> 559</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::PointCloudIn</a>;</div>
<div class="line"><a name="l00560"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a15d0e86af47e8996d798699e3d095ec5"> 560</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::PointCloudOut</a>;</div>
<div class="line"><a name="l00561"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a41a95460c5d3a68982541ddb6f4cd6cb"> 561</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::KdTree</a>;</div>
<div class="line"><a name="l00562"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a30e1a23ddd36ddd6eddae6e88015dee4"> 562</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html#a8e964def6d3ebe2e75ca1efa722225bf">PointCloudInConstPtr</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">PointCloudIn::ConstPtr</a>;</div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  </div>
<div class="line"><a name="l00564"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#ad67d70257566ae64ff031dbdf0f8318c"> 564</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#ad67d70257566ae64ff031dbdf0f8318c">AgastDetectorPtr</a> = <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">pcl::keypoints::agast::AbstractAgastDetector::Ptr</a>;</div>
<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  </div>
<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::name_</a>;</div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::input_</a>;</div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::indices_</a>;</div>
<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::k_</a>;</div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span> <span class="comment"></span> </div>
<div class="line"><a name="l00571"></a><span class="lineno"> 571</span> <span class="comment"> /** \brief Constructor */</span></div>
<div class="line"><a name="l00572"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#ab433c5dee1ce520ccefd403885133402"> 572</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#ab433c5dee1ce520ccefd403885133402">AgastKeypoint2DBase</a> ()</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  : <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a3fa742a17e73bbf367a5ec67402efeef">threshold_</a> (10)</div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  , <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#abc46374a276cd14177f45d20b6f5ff1c">apply_non_max_suppression_</a> (true)</div>
<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  , <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7226354a5af9c3daa77ee174ee771b89">bmax_</a> (255)</div>
<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  , <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#aa1c97ed82c68cf86ab23f3aee57d3cb1">nr_max_keypoints_</a> (std::numeric_limits<unsigned int>::max ())</div>
<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  {</div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <a class="code" href="classpcl_1_1_keypoint.html#a6f79ff083299e0b67316b26d1931613e">k_</a> = 1;</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  }</div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span> <span class="comment"></span> </div>
<div class="line"><a name="l00581"></a><span class="lineno"> 581</span> <span class="comment"> /** \brief Destructor. */</span></div>
<div class="line"><a name="l00582"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a4db20e9472962558c4471f389ea534c6"> 582</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a4db20e9472962558c4471f389ea534c6">~AgastKeypoint2DBase</a> ()</div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  {</div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  }</div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span> <span class="comment"></span> </div>
<div class="line"><a name="l00586"></a><span class="lineno"> 586</span> <span class="comment"> /** \brief Sets the threshold for corner detection.</span></div>
<div class="line"><a name="l00587"></a><span class="lineno"> 587</span> <span class="comment"> * \param[in] threshold the threshold used for corner detection.</span></div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00590"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a7fcafff800893f95e1dc9ed9e7a58d14"> 590</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7fcafff800893f95e1dc9ed9e7a58d14">setThreshold</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> threshold)</div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  {</div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a3fa742a17e73bbf367a5ec67402efeef">threshold_</a> = threshold;</div>
<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  }</div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span> <span class="comment"></span> </div>
<div class="line"><a name="l00595"></a><span class="lineno"> 595</span> <span class="comment"> /** \brief Get the threshold for corner detection, as set by the user. */</span></div>
<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00597"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a229986d52bd25c46ae604ab383858efd"> 597</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a229986d52bd25c46ae604ab383858efd">getThreshold</a> ()</div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  {</div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a3fa742a17e73bbf367a5ec67402efeef">threshold_</a>);</div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  }</div>
<div class="line"><a name="l00601"></a><span class="lineno"> 601</span> <span class="comment"></span> </div>
<div class="line"><a name="l00602"></a><span class="lineno"> 602</span> <span class="comment"> /** \brief Sets the maximum number of keypoints to return. The</span></div>
<div class="line"><a name="l00603"></a><span class="lineno"> 603</span> <span class="comment"> * estimated keypoints are sorted by their internal score.</span></div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span> <span class="comment"> * \param[in] nr_max_keypoints set the maximum number of keypoints to return</span></div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00607"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a7219fa5b5ffa8a41e67f2a999ef55a4f"> 607</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7219fa5b5ffa8a41e67f2a999ef55a4f">setMaxKeypoints</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_max_keypoints)</div>
<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  {</div>
<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#aa1c97ed82c68cf86ab23f3aee57d3cb1">nr_max_keypoints_</a> = nr_max_keypoints;</div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  }</div>
<div class="line"><a name="l00611"></a><span class="lineno"> 611</span> <span class="comment"></span> </div>
<div class="line"><a name="l00612"></a><span class="lineno"> 612</span> <span class="comment"> /** \brief Get the maximum number of keypoints to return, as set by the user. */</span></div>
<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00614"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#afc90e3ce3d5b82c2426b6e82d75d2b0e"> 614</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#afc90e3ce3d5b82c2426b6e82d75d2b0e">getMaxKeypoints</a> ()</div>
<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  {</div>
<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#aa1c97ed82c68cf86ab23f3aee57d3cb1">nr_max_keypoints_</a>);</div>
<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  }</div>
<div class="line"><a name="l00618"></a><span class="lineno"> 618</span> <span class="comment"></span> </div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span> <span class="comment"> /** \brief Sets the max image data value (affects how many iterations AGAST does)</span></div>
<div class="line"><a name="l00620"></a><span class="lineno"> 620</span> <span class="comment"> * \param[in] bmax the max image data value</span></div>
<div class="line"><a name="l00621"></a><span class="lineno"> 621</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00623"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a38fcda315ed1385558e44544635c818a"> 623</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a38fcda315ed1385558e44544635c818a">setMaxDataValue</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> bmax)</div>
<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  {</div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7226354a5af9c3daa77ee174ee771b89">bmax_</a> = bmax;</div>
<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  }</div>
<div class="line"><a name="l00627"></a><span class="lineno"> 627</span> <span class="comment"></span> </div>
<div class="line"><a name="l00628"></a><span class="lineno"> 628</span> <span class="comment"> /** \brief Get the bmax image value, as set by the user. */</span></div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00630"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a7599ab815736a5a75d703d4ccab70bcc"> 630</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7599ab815736a5a75d703d4ccab70bcc">getMaxDataValue</a> ()</div>
<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  {</div>
<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7226354a5af9c3daa77ee174ee771b89">bmax_</a>);</div>
<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  }</div>
<div class="line"><a name="l00634"></a><span class="lineno"> 634</span> <span class="comment"></span> </div>
<div class="line"><a name="l00635"></a><span class="lineno"> 635</span> <span class="comment"> /** \brief Sets whether non-max-suppression is applied or not.</span></div>
<div class="line"><a name="l00636"></a><span class="lineno"> 636</span> <span class="comment"> * \param[in] enabled determines whether non-max-suppression is enabled.</span></div>
<div class="line"><a name="l00637"></a><span class="lineno"> 637</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00639"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#ad5b6e04f35aea17cff25bd374e232179"> 639</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#ad5b6e04f35aea17cff25bd374e232179">setNonMaxSuppression</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> enabled)</div>
<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  {</div>
<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#abc46374a276cd14177f45d20b6f5ff1c">apply_non_max_suppression_</a> = enabled;</div>
<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  }</div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</span> <span class="comment"></span> </div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span> <span class="comment"> /** \brief Returns whether non-max-suppression is applied or not. */</span></div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00646"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#aaaee15d894aa3874adc787d0e46b313c"> 646</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#aaaee15d894aa3874adc787d0e46b313c">getNonMaxSuppression</a> ()</div>
<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  {</div>
<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#abc46374a276cd14177f45d20b6f5ff1c">apply_non_max_suppression_</a>);</div>
<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  }</div>
<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  </div>
<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00652"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a93a13fe2c4b3293dbdf1572aaa391d3c"> 652</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a93a13fe2c4b3293dbdf1572aaa391d3c">setAgastDetector</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#ad67d70257566ae64ff031dbdf0f8318c">AgastDetectorPtr</a> &detector)</div>
<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  {</div>
<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a9ee609d7022fc586127729029ce27447">detector_</a> = detector;</div>
<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  }</div>
<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  </div>
<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#ad67d70257566ae64ff031dbdf0f8318c">AgastDetectorPtr</a></div>
<div class="line"><a name="l00658"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a104c6022e0721b4ff10e205f2fb959b6"> 658</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a104c6022e0721b4ff10e205f2fb959b6">getAgastDetector</a> ()</div>
<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  {</div>
<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a9ee609d7022fc586127729029ce27447">detector_</a>);</div>
<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  }</div>
<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00663"></a><span class="lineno"> 663</span> <span class="comment"></span> </div>
<div class="line"><a name="l00664"></a><span class="lineno"> 664</span> <span class="comment"> /** \brief Initializes everything and checks whether input data is fine. */</span></div>
<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a912a118e07044efefe78135be6f210e6">initCompute</a> () <span class="keyword">override</span>;</div>
<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  <span class="comment"></span></div>
<div class="line"><a name="l00668"></a><span class="lineno"> 668</span> <span class="comment"> /** \brief Detects the keypoints.</span></div>
<div class="line"><a name="l00669"></a><span class="lineno"> 669</span> <span class="comment"> * \param[out] output the resultant keypoints</span></div>
<div class="line"><a name="l00670"></a><span class="lineno"> 670</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a4a08f9dc63a98faa07a0889913dbeb9b">detectKeypoints</a> (<a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a15d0e86af47e8996d798699e3d095ec5">PointCloudOut</a> &output) <span class="keyword">override</span> = 0;</div>
<div class="line"><a name="l00673"></a><span class="lineno"> 673</span> <span class="comment"></span> </div>
<div class="line"><a name="l00674"></a><span class="lineno"> 674</span> <span class="comment"> /** \brief Intensity field accessor. */</span></div>
<div class="line"><a name="l00675"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a4a6279fb59e170b759712be65de09854"> 675</a></span>  IntensityT <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a4a6279fb59e170b759712be65de09854">intensity_</a>;</div>
<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <span class="comment"></span></div>
<div class="line"><a name="l00677"></a><span class="lineno"> 677</span> <span class="comment"> /** \brief Threshold for corner detection. */</span></div>
<div class="line"><a name="l00678"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a3fa742a17e73bbf367a5ec67402efeef"> 678</a></span>  <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a3fa742a17e73bbf367a5ec67402efeef">threshold_</a>;</div>
<div class="line"><a name="l00679"></a><span class="lineno"> 679</span> <span class="comment"></span> </div>
<div class="line"><a name="l00680"></a><span class="lineno"> 680</span> <span class="comment"> /** \brief Determines whether non-max-suppression is activated. */</span></div>
<div class="line"><a name="l00681"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#abc46374a276cd14177f45d20b6f5ff1c"> 681</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#abc46374a276cd14177f45d20b6f5ff1c">apply_non_max_suppression_</a>;</div>
<div class="line"><a name="l00682"></a><span class="lineno"> 682</span> <span class="comment"></span> </div>
<div class="line"><a name="l00683"></a><span class="lineno"> 683</span> <span class="comment"> /** \brief Max image value. */</span></div>
<div class="line"><a name="l00684"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a7226354a5af9c3daa77ee174ee771b89"> 684</a></span>  <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7226354a5af9c3daa77ee174ee771b89">bmax_</a>;</div>
<div class="line"><a name="l00685"></a><span class="lineno"> 685</span> <span class="comment"></span> </div>
<div class="line"><a name="l00686"></a><span class="lineno"> 686</span> <span class="comment"> /** \brief The Agast detector to use. */</span></div>
<div class="line"><a name="l00687"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a9ee609d7022fc586127729029ce27447"> 687</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#ad67d70257566ae64ff031dbdf0f8318c">AgastDetectorPtr</a> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a9ee609d7022fc586127729029ce27447">detector_</a>;</div>
<div class="line"><a name="l00688"></a><span class="lineno"> 688</span> <span class="comment"></span> </div>
<div class="line"><a name="l00689"></a><span class="lineno"> 689</span> <span class="comment"> /** \brief The maximum number of keypoints to return. */</span></div>
<div class="line"><a name="l00690"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#aa1c97ed82c68cf86ab23f3aee57d3cb1"> 690</a></span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#aa1c97ed82c68cf86ab23f3aee57d3cb1">nr_max_keypoints_</a>;</div>
<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  };</div>
<div class="line"><a name="l00692"></a><span class="lineno"> 692</span> <span class="comment"></span> </div>
<div class="line"><a name="l00693"></a><span class="lineno"> 693</span> <span class="comment"> /** \brief Detects 2D AGAST corner points. Based on the original work and</span></div>
<div class="line"><a name="l00694"></a><span class="lineno"> 694</span> <span class="comment"> * paper reference by</span></div>
<div class="line"><a name="l00695"></a><span class="lineno"> 695</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00696"></a><span class="lineno"> 696</span> <span class="comment"> * \par</span></div>
<div class="line"><a name="l00697"></a><span class="lineno"> 697</span> <span class="comment"> * Elmar Mair, Gregory D. Hager, Darius Burschka, Michael Suppa, and Gerhard Hirzinger. </span></div>
<div class="line"><a name="l00698"></a><span class="lineno"> 698</span> <span class="comment"> * Adaptive and generic corner detection based on the accelerated segment test. </span></div>
<div class="line"><a name="l00699"></a><span class="lineno"> 699</span> <span class="comment"> * In Proceedings of the European Conference on Computer Vision (ECCV'10), September 2010.</span></div>
<div class="line"><a name="l00700"></a><span class="lineno"> 700</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00701"></a><span class="lineno"> 701</span> <span class="comment"> * Code example:</span></div>
<div class="line"><a name="l00702"></a><span class="lineno"> 702</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00703"></a><span class="lineno"> 703</span> <span class="comment"> * \code</span></div>
<div class="line"><a name="l00704"></a><span class="lineno"> 704</span> <span class="comment"> * pcl::PointCloud<pcl::PointXYZRGBA> cloud;</span></div>
<div class="line"><a name="l00705"></a><span class="lineno"> 705</span> <span class="comment"> * pcl::AgastKeypoint2D<pcl::PointXYZRGBA> agast;</span></div>
<div class="line"><a name="l00706"></a><span class="lineno"> 706</span> <span class="comment"> * agast.setThreshold (30);</span></div>
<div class="line"><a name="l00707"></a><span class="lineno"> 707</span> <span class="comment"> * agast.setInputCloud (cloud);</span></div>
<div class="line"><a name="l00708"></a><span class="lineno"> 708</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00709"></a><span class="lineno"> 709</span> <span class="comment"> * PointCloud<pcl::PointUV> keypoints;</span></div>
<div class="line"><a name="l00710"></a><span class="lineno"> 710</span> <span class="comment"> * agast.compute (keypoints);</span></div>
<div class="line"><a name="l00711"></a><span class="lineno"> 711</span> <span class="comment"> * \endcode</span></div>
<div class="line"><a name="l00712"></a><span class="lineno"> 712</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00713"></a><span class="lineno"> 713</span> <span class="comment"> * \note The AGAST keypoint type used is 7_12s.</span></div>
<div class="line"><a name="l00714"></a><span class="lineno"> 714</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00715"></a><span class="lineno"> 715</span> <span class="comment"> * \author Stefan Holzer, Radu B. Rusu</span></div>
<div class="line"><a name="l00716"></a><span class="lineno"> 716</span> <span class="comment"> * \ingroup keypoints</span></div>
<div class="line"><a name="l00717"></a><span class="lineno"> 717</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::Po<span class="keywordtype">int</span>UV></div>
<div class="line"><a name="l00719"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d.html"> 719</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_agast_keypoint2_d.html">AgastKeypoint2D</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase</a><PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT> ></div>
<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  {</div>
<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00722"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d.html#aa9f89c26833e11888787bd0947fd98b7"> 722</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d.html#aa9f89c26833e11888787bd0947fd98b7">PointCloudOut</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::PointCloudOut</a>;</div>
<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  </div>
<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::name_</a>;</div>
<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::input_</a>;</div>
<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::indices_</a>;</div>
<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint<PointInT, PointOutT>::k_</a>;</div>
<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT></a> ><a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a4a6279fb59e170b759712be65de09854">::intensity_</a>;</div>
<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT></a> ><a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a3fa742a17e73bbf367a5ec67402efeef">::threshold_</a>;</div>
<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT></a> ><a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7226354a5af9c3daa77ee174ee771b89">::bmax_</a>;</div>
<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT></a> ><a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#abc46374a276cd14177f45d20b6f5ff1c">::apply_non_max_suppression_</a>;</div>
<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT></a> ><a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a9ee609d7022fc586127729029ce27447">::detector_</a>;</div>
<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT></a> ><a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#aa1c97ed82c68cf86ab23f3aee57d3cb1">::nr_max_keypoints_</a>;</div>
<div class="line"><a name="l00734"></a><span class="lineno"> 734</span> <span class="comment"></span> </div>
<div class="line"><a name="l00735"></a><span class="lineno"> 735</span> <span class="comment"> /** \brief Constructor */</span></div>
<div class="line"><a name="l00736"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d.html#a9305825b2a5cdde9e26fec862c1cc157"> 736</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d.html#a9305825b2a5cdde9e26fec862c1cc157">AgastKeypoint2D</a> ()</div>
<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  {</div>
<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  <a class="code" href="classpcl_1_1_keypoint.html#a73ddedd264e48db32db023bd067b4063">name_</a> = <span class="stringliteral">"AgastKeypoint2D"</span>;</div>
<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  }</div>
<div class="line"><a name="l00740"></a><span class="lineno"> 740</span> <span class="comment"></span> </div>
<div class="line"><a name="l00741"></a><span class="lineno"> 741</span> <span class="comment"> /** \brief Destructor. */</span></div>
<div class="line"><a name="l00742"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d.html#a811f8d0d77f30275ab514495aa1a09b2"> 742</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d.html#a811f8d0d77f30275ab514495aa1a09b2">~AgastKeypoint2D</a> ()</div>
<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  {</div>
<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  }</div>
<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  </div>
<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00747"></a><span class="lineno"> 747</span> <span class="comment"> /** \brief Detects the keypoints.</span></div>
<div class="line"><a name="l00748"></a><span class="lineno"> 748</span> <span class="comment"> * \param[out] output the resultant keypoints</span></div>
<div class="line"><a name="l00749"></a><span class="lineno"> 749</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d.html#abb968464ebf1954afc96334ace72cd26">detectKeypoints</a> (<a class="code" href="classpcl_1_1_agast_keypoint2_d.html#aa9f89c26833e11888787bd0947fd98b7">PointCloudOut</a> &output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  };</div>
<div class="line"><a name="l00753"></a><span class="lineno"> 753</span> <span class="comment"></span> </div>
<div class="line"><a name="l00754"></a><span class="lineno"> 754</span> <span class="comment"> /** \brief Detects 2D AGAST corner points. Based on the original work and</span></div>
<div class="line"><a name="l00755"></a><span class="lineno"> 755</span> <span class="comment"> * paper reference by</span></div>
<div class="line"><a name="l00756"></a><span class="lineno"> 756</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00757"></a><span class="lineno"> 757</span> <span class="comment"> * \par</span></div>
<div class="line"><a name="l00758"></a><span class="lineno"> 758</span> <span class="comment"> * Elmar Mair, Gregory D. Hager, Darius Burschka, Michael Suppa, and Gerhard Hirzinger. </span></div>
<div class="line"><a name="l00759"></a><span class="lineno"> 759</span> <span class="comment"> * Adaptive and generic corner detection based on the accelerated segment test. </span></div>
<div class="line"><a name="l00760"></a><span class="lineno"> 760</span> <span class="comment"> * In Proceedings of the European Conference on Computer Vision (ECCV'10), September 2010.</span></div>
<div class="line"><a name="l00761"></a><span class="lineno"> 761</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00762"></a><span class="lineno"> 762</span> <span class="comment"> * Code example:</span></div>
<div class="line"><a name="l00763"></a><span class="lineno"> 763</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00764"></a><span class="lineno"> 764</span> <span class="comment"> * \code</span></div>
<div class="line"><a name="l00765"></a><span class="lineno"> 765</span> <span class="comment"> * pcl::PointCloud<pcl::PointXYZRGBA> cloud;</span></div>
<div class="line"><a name="l00766"></a><span class="lineno"> 766</span> <span class="comment"> * pcl::AgastKeypoint2D<pcl::PointXYZRGBA> agast;</span></div>
<div class="line"><a name="l00767"></a><span class="lineno"> 767</span> <span class="comment"> * agast.setThreshold (30);</span></div>
<div class="line"><a name="l00768"></a><span class="lineno"> 768</span> <span class="comment"> * agast.setInputCloud (cloud);</span></div>
<div class="line"><a name="l00769"></a><span class="lineno"> 769</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00770"></a><span class="lineno"> 770</span> <span class="comment"> * PointCloud<pcl::PointUV> keypoints;</span></div>
<div class="line"><a name="l00771"></a><span class="lineno"> 771</span> <span class="comment"> * agast.compute (keypoints);</span></div>
<div class="line"><a name="l00772"></a><span class="lineno"> 772</span> <span class="comment"> * \endcode</span></div>
<div class="line"><a name="l00773"></a><span class="lineno"> 773</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00774"></a><span class="lineno"> 774</span> <span class="comment"> * \note This is a specialized version for PointXYZ clouds, and operates on depth (z) as float. The output keypoints are of the PointXY type.</span></div>
<div class="line"><a name="l00775"></a><span class="lineno"> 775</span> <span class="comment"> * \note The AGAST keypoint type used is 7_12s.</span></div>
<div class="line"><a name="l00776"></a><span class="lineno"> 776</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00777"></a><span class="lineno"> 777</span> <span class="comment"> * \author Stefan Holzer, Radu B. Rusu</span></div>
<div class="line"><a name="l00778"></a><span class="lineno"> 778</span> <span class="comment"> * \ingroup keypoints</span></div>
<div class="line"><a name="l00779"></a><span class="lineno"> 779</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  <span class="keyword">template</span> <></div>
<div class="line"><a name="l00781"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4.html"> 781</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_agast_keypoint2_d.html">AgastKeypoint2D</a><<a class="code" href="namespacepcl.html">pcl</a>::<a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>, <a class="code" href="structpcl_1_1_point_u_v.html">pcl::PointUV</a>></div>
<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html">AgastKeypoint2DBase</a><pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor<pcl::PointXYZ> > </div>
<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  {</div>
<div class="line"><a name="l00784"></a><span class="lineno"> 784</span>  <span class="keyword">public</span>:<span class="comment"></span></div>
<div class="line"><a name="l00785"></a><span class="lineno"> 785</span> <span class="comment"> /** \brief Constructor */</span></div>
<div class="line"><a name="l00786"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4.html#aa2f56789e23224254ad2085af2775646"> 786</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4.html#aa2f56789e23224254ad2085af2775646">AgastKeypoint2D</a> ()</div>
<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  {</div>
<div class="line"><a name="l00788"></a><span class="lineno"> 788</span>  <a class="code" href="classpcl_1_1_keypoint.html#a73ddedd264e48db32db023bd067b4063">name_</a> = <span class="stringliteral">"AgastKeypoint2D"</span>;</div>
<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a7226354a5af9c3daa77ee174ee771b89">bmax_</a> = 4; <span class="comment">// max data value for an OpenNI camera</span></div>
<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  }</div>
<div class="line"><a name="l00791"></a><span class="lineno"> 791</span> <span class="comment"></span> </div>
<div class="line"><a name="l00792"></a><span class="lineno"> 792</span> <span class="comment"> /** \brief Destructor. */</span></div>
<div class="line"><a name="l00793"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4.html#a79e0f051de6dc6e4f71f97849d97019d"> 793</a></span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4.html#a79e0f051de6dc6e4f71f97849d97019d">~AgastKeypoint2D</a> ()</div>
<div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  {</div>
<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  }</div>
<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  </div>
<div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00798"></a><span class="lineno"> 798</span> <span class="comment"> /** \brief Detects the keypoints.</span></div>
<div class="line"><a name="l00799"></a><span class="lineno"> 799</span> <span class="comment"> * \param[out] output the resultant keypoints</span></div>
<div class="line"><a name="l00800"></a><span class="lineno"> 800</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00801"></a><span class="lineno"> 801</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00802"></a><span class="lineno"> 802</span>  <a class="code" href="classpcl_1_1_agast_keypoint2_d.html#abb968464ebf1954afc96334ace72cd26">detectKeypoints</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> &output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  };</div>
<div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  </div>
<div class="line"><a name="l00805"></a><span class="lineno"> 805</span> }</div>
<div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  </div>
<div class="line"><a name="l00807"></a><span class="lineno"> 807</span> <span class="preprocessor">#include <pcl/keypoints/impl/agast_2d.hpp></span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="astructpcl_1_1_point_u_v_html"><div class="ttname"><a href="structpcl_1_1_point_u_v.html">pcl::PointUV</a></div><div class="ttdoc">A 2D point structure representing pixel image coordinates.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00761">point_types.hpp:761</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search< PointInT ></a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion_html"><div class="ttname"><a href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html">pcl::keypoints::internal::AgastApplyNonMaxSuppresion</a></div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00482">agast_2d.h:482</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_compare_score_index_html"><div class="ttname"><a href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_compare_score_index.html">pcl::keypoints::agast::AbstractAgastDetector::CompareScoreIndex</a></div><div class="ttdoc">Score index comparator.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00196">agast_2d.h:196</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_html"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d.html">pcl::AgastKeypoint2D</a></div><div class="ttdoc">Detects 2D AGAST corner points.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00719">agast_2d.h:719</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_oast_detector9__16_html_a82a7102497c0969ef372050e0767619d"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html#a82a7102497c0969ef372050e0767619d">pcl::keypoints::agast::OastDetector9_16::~OastDetector9_16</a></div><div class="ttdeci">~OastDetector9_16()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00430">agast_2d.h:430</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a68693f48efdc32fc292da634f187b7a2"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a68693f48efdc32fc292da634f187b7a2">pcl::keypoints::agast::AbstractAgastDetector::getThreshold</a></div><div class="ttdeci">double getThreshold()</div><div class="ttdoc">Get the threshold for corner detection, as set by the user.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00149">agast_2d.h:149</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4_html_a79e0f051de6dc6e4f71f97849d97019d"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4.html#a79e0f051de6dc6e4f71f97849d97019d">pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::~AgastKeypoint2D</a></div><div class="ttdeci">~AgastKeypoint2D()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00793">agast_2d.h:793</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a229986d52bd25c46ae604ab383858efd"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a229986d52bd25c46ae604ab383858efd">pcl::AgastKeypoint2DBase::getThreshold</a></div><div class="ttdeci">double getThreshold()</div><div class="ttdoc">Get the threshold for corner detection, as set by the user.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00597">agast_2d.h:597</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html">pcl::keypoints::agast::AbstractAgastDetector</a></div><div class="ttdoc">Abstract detector class for AGAST corner point detectors.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00064">agast_2d.h:64</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a2702b38fea665659346b2c692485eb82"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a2702b38fea665659346b2c692485eb82">pcl::keypoints::agast::AbstractAgastDetector::~AbstractAgastDetector</a></div><div class="ttdeci">virtual ~AbstractAgastDetector()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00088">agast_2d.h:88</a></div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a6f79ff083299e0b67316b26d1931613e"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a6f79ff083299e0b67316b26d1931613e">pcl::Keypoint< PointInT, PointOutT >::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">The number of K nearest neighbors to use for each point.</div><div class="ttdef"><b>Definition:</b> <a href="keypoints_2include_2pcl_2keypoints_2keypoint_8h_source.html#l00190">keypoint.h:190</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_ad5b6e04f35aea17cff25bd374e232179"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#ad5b6e04f35aea17cff25bd374e232179">pcl::AgastKeypoint2DBase::setNonMaxSuppression</a></div><div class="ttdeci">void setNonMaxSuppression(const bool enabled)</div><div class="ttdoc">Sets whether non-max-suppression is applied or not.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00639">agast_2d.h:639</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_ad67d70257566ae64ff031dbdf0f8318c"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#ad67d70257566ae64ff031dbdf0f8318c">pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >::AgastDetectorPtr</a></div><div class="ttdeci">pcl::keypoints::agast::AbstractAgastDetector::Ptr AgastDetectorPtr</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00564">agast_2d.h:564</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_af1b1c542c9a00d96bb2d00b0c8d43f4f"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#af1b1c542c9a00d96bb2d00b0c8d43f4f">pcl::keypoints::agast::AbstractAgastDetector::bmax_</a></div><div class="ttdeci">double bmax_</div><div class="ttdoc">Max image value.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00255">agast_2d.h:255</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_html_a9305825b2a5cdde9e26fec862c1cc157"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d.html#a9305825b2a5cdde9e26fec862c1cc157">pcl::AgastKeypoint2D::AgastKeypoint2D</a></div><div class="ttdeci">AgastKeypoint2D()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00736">agast_2d.h:736</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a93aeed3f4fe69295bfe21efb85bdf4be"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a93aeed3f4fe69295bfe21efb85bdf4be">pcl::keypoints::agast::AbstractAgastDetector::height_</a></div><div class="ttdeci">std::size_t height_</div><div class="ttdoc">Height of the image to process.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00246">agast_2d.h:246</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud< pcl::PointUV ></a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a53415de44dc2ae2728013a4ca85af15c"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a53415de44dc2ae2728013a4ca85af15c">pcl::keypoints::agast::AbstractAgastDetector::getMaxKeypoints</a></div><div class="ttdeci">unsigned int getMaxKeypoints()</div><div class="ttdoc">Get the maximum number of keypoints to return, as set by the user.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00166">agast_2d.h:166</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_abc46374a276cd14177f45d20b6f5ff1c"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#abc46374a276cd14177f45d20b6f5ff1c">pcl::AgastKeypoint2DBase::apply_non_max_suppression_</a></div><div class="ttdeci">bool apply_non_max_suppression_</div><div class="ttdoc">Determines whether non-max-suppression is activated.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00681">agast_2d.h:681</a></div></div>
<div class="ttc" id="agroup__common_html_gaff182bca8d0295d727baaa1fd368c6ad"><div class="ttname"><a href="group__common.html#gaff182bca8d0295d727baaa1fd368c6ad">pcl::copyPointCloud</a></div><div class="ttdeci">void copyPointCloud(const pcl::PointCloud< PointInT > &cloud_in, pcl::PointCloud< PointOutT > &cloud_out)</div><div class="ttdoc">Copy all the fields from a given point cloud into a new point cloud.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2impl_2io_8hpp_source.html#l00121">io.hpp:121</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_afc90e3ce3d5b82c2426b6e82d75d2b0e"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#afc90e3ce3d5b82c2426b6e82d75d2b0e">pcl::AgastKeypoint2DBase::getMaxKeypoints</a></div><div class="ttdeci">unsigned int getMaxKeypoints()</div><div class="ttdoc">Get the maximum number of keypoints to return, as set by the user.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00614">agast_2d.h:614</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_aaaee15d894aa3874adc787d0e46b313c"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#aaaee15d894aa3874adc787d0e46b313c">pcl::AgastKeypoint2DBase::getNonMaxSuppression</a></div><div class="ttdeci">bool getNonMaxSuppression()</div><div class="ttdoc">Returns whether non-max-suppression is applied or not.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00646">agast_2d.h:646</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1internal_1_1_agast_detector_html_a0149c646ff8d8b2ea45d03dfd668920b"><div class="ttname"><a href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html#a0149c646ff8d8b2ea45d03dfd668920b">pcl::keypoints::internal::AgastDetector::AgastDetector</a></div><div class="ttdeci">AgastDetector(const std::vector< unsigned char > &image_data, const pcl::keypoints::agast::AbstractAgastDetector::Ptr &detector, pcl::PointCloud< Out > &output)</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00513">agast_2d.h:513</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a2712d02a6b0264813ec631c2926d3bbb"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a2712d02a6b0264813ec631c2926d3bbb">pcl::keypoints::agast::AbstractAgastDetector::setMaxKeypoints</a></div><div class="ttdeci">void setMaxKeypoints(const unsigned int nr_max_keypoints)</div><div class="ttdoc">Sets the maximum number of keypoints to return.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00159">agast_2d.h:159</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_html_abb968464ebf1954afc96334ace72cd26"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d.html#abb968464ebf1954afc96334ace72cd26">pcl::AgastKeypoint2D::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &output) override</div><div class="ttdoc">Detects the keypoints.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8hpp_source.html#l00068">agast_2d.hpp:68</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a58f93542a0f46feed2ce791549ac0790"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a58f93542a0f46feed2ce791549ac0790">pcl::keypoints::agast::AbstractAgastDetector::ConstPtr</a></div><div class="ttdeci">shared_ptr< const AbstractAgastDetector > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00068">agast_2d.h:68</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s_html_aff17278915c31c69d59cab89da167255"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html#aff17278915c31c69d59cab89da167255">pcl::keypoints::agast::AgastDetector7_12s::~AgastDetector7_12s</a></div><div class="ttdeci">~AgastDetector7_12s()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00288">agast_2d.h:288</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a7599ab815736a5a75d703d4ccab70bcc"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a7599ab815736a5a75d703d4ccab70bcc">pcl::AgastKeypoint2DBase::getMaxDataValue</a></div><div class="ttdeci">double getMaxDataValue()</div><div class="ttdoc">Get the bmax image value, as set by the user.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00630">agast_2d.h:630</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4_html_aa2f56789e23224254ad2085af2775646"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_3_01pcl_1_1_point_x_y_z_00_01pcl_1_1_point_u_v_01_4.html#aa2f56789e23224254ad2085af2775646">pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >::AgastKeypoint2D</a></div><div class="ttdeci">AgastKeypoint2D()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00786">agast_2d.h:786</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_html_a811f8d0d77f30275ab514495aa1a09b2"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d.html#a811f8d0d77f30275ab514495aa1a09b2">pcl::AgastKeypoint2D::~AgastKeypoint2D</a></div><div class="ttdeci">~AgastKeypoint2D()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00742">agast_2d.h:742</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s_html"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html">pcl::keypoints::agast::AgastDetector7_12s</a></div><div class="ttdoc">Detector class for AGAST corner point detector (7_12s).</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00266">agast_2d.h:266</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a93a13fe2c4b3293dbdf1572aaa391d3c"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a93a13fe2c4b3293dbdf1572aaa391d3c">pcl::AgastKeypoint2DBase::setAgastDetector</a></div><div class="ttdeci">void setAgastDetector(const AgastDetectorPtr &detector)</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00652">agast_2d.h:652</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_ab433c5dee1ce520ccefd403885133402"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#ab433c5dee1ce520ccefd403885133402">pcl::AgastKeypoint2DBase::AgastKeypoint2DBase</a></div><div class="ttdeci">AgastKeypoint2DBase()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00572">agast_2d.h:572</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00300">point_types.hpp:300</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index_html"><div class="ttname"><a href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html">pcl::keypoints::agast::AbstractAgastDetector::ScoreIndex</a></div><div class="ttdoc">Structure holding an index and the associated keypoint score.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00189">agast_2d.h:189</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a4a08f9dc63a98faa07a0889913dbeb9b"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a4a08f9dc63a98faa07a0889913dbeb9b">pcl::AgastKeypoint2DBase::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &output) override=0</div><div class="ttdoc">Detects the keypoints.</div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_oast_detector9__16_html"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html">pcl::keypoints::agast::OastDetector9_16</a></div><div class="ttdoc">Detector class for AGAST corner point detector (OAST 9_16).</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00408">agast_2d.h:408</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1internal_1_1_agast_detector_html"><div class="ttname"><a href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html">pcl::keypoints::internal::AgastDetector</a></div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00511">agast_2d.h:511</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a4db20e9472962558c4471f389ea534c6"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a4db20e9472962558c4471f389ea534c6">pcl::AgastKeypoint2DBase::~AgastKeypoint2DBase</a></div><div class="ttdeci">~AgastKeypoint2DBase()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00582">agast_2d.h:582</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a10b8b1380d81de44b9703a91943e8c15"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a10b8b1380d81de44b9703a91943e8c15">pcl::keypoints::agast::AbstractAgastDetector::Ptr</a></div><div class="ttdeci">shared_ptr< AbstractAgastDetector > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00067">agast_2d.h:67</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a912a118e07044efefe78135be6f210e6"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a912a118e07044efefe78135be6f210e6">pcl::AgastKeypoint2DBase::initCompute</a></div><div class="ttdeci">bool initCompute() override</div><div class="ttdoc">Initializes everything and checks whether input data is fine.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8hpp_source.html#l00049">agast_2d.hpp:49</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index_html_a577047265f96ccf54a1660f290ae66c4"><div class="ttname"><a href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html#a577047265f96ccf54a1660f290ae66c4">pcl::keypoints::agast::AbstractAgastDetector::ScoreIndex::idx</a></div><div class="ttdeci">int idx</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00191">agast_2d.h:191</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion_3_01pcl_1_1_point_u_v_01_4_html_a089eba8f56916096e0e17d95056b2e30"><div class="ttname"><a href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion_3_01pcl_1_1_point_u_v_01_4.html#a089eba8f56916096e0e17d95056b2e30">pcl::keypoints::internal::AgastApplyNonMaxSuppresion< pcl::PointUV >::AgastApplyNonMaxSuppresion</a></div><div class="ttdeci">AgastApplyNonMaxSuppresion(const std::vector< unsigned char > &image_data, const pcl::PointCloud< pcl::PointUV > &tmp_cloud, const pcl::keypoints::agast::AbstractAgastDetector::Ptr &detector, pcl::PointCloud< pcl::PointUV > &output)</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00500">agast_2d.h:500</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1internal_1_1_agast_detector_3_01pcl_1_1_point_u_v_01_4_html_a8b279bd41ba07b45833b6ef1227e54d5"><div class="ttname"><a href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector_3_01pcl_1_1_point_u_v_01_4.html#a8b279bd41ba07b45833b6ef1227e54d5">pcl::keypoints::internal::AgastDetector< pcl::PointUV >::AgastDetector</a></div><div class="ttdeci">AgastDetector(const std::vector< unsigned char > &image_data, const pcl::keypoints::agast::AbstractAgastDetector::Ptr &detector, pcl::PointCloud< pcl::PointUV > &output)</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00528">agast_2d.h:528</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_abf4c33f034bdd93a5b9a2f14fcaea9de"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#abf4c33f034bdd93a5b9a2f14fcaea9de">pcl::keypoints::agast::AbstractAgastDetector::width_</a></div><div class="ttdeci">std::size_t width_</div><div class="ttdoc">Width of the image to process.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00244">agast_2d.h:244</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_agast_detector5__8_html_a831a08fe74af1042103d4bff94d8f9cf"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html#a831a08fe74af1042103d4bff94d8f9cf">pcl::keypoints::agast::AgastDetector5_8::AgastDetector5_8</a></div><div class="ttdeci">AgastDetector5_8(const std::size_t width, const std::size_t height, const double threshold, const double bmax=255)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00349">agast_2d.h:349</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a7226354a5af9c3daa77ee174ee771b89"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a7226354a5af9c3daa77ee174ee771b89">pcl::AgastKeypoint2DBase::bmax_</a></div><div class="ttdeci">double bmax_</div><div class="ttdoc">Max image value.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00684">agast_2d.h:684</a></div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a73ddedd264e48db32db023bd067b4063"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a73ddedd264e48db32db023bd067b4063">pcl::Keypoint< PointInT, pcl::PointUV >::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> <a href="keypoints_2include_2pcl_2keypoints_2keypoint_8h_source.html#l00169">keypoint.h:169</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_aa1c97ed82c68cf86ab23f3aee57d3cb1"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#aa1c97ed82c68cf86ab23f3aee57d3cb1">pcl::AgastKeypoint2DBase::nr_max_keypoints_</a></div><div class="ttdeci">unsigned int nr_max_keypoints_</div><div class="ttdoc">The maximum number of keypoints to return.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00690">agast_2d.h:690</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a4a6279fb59e170b759712be65de09854"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a4a6279fb59e170b759712be65de09854">pcl::AgastKeypoint2DBase::intensity_</a></div><div class="ttdeci">IntensityT intensity_</div><div class="ttdoc">Intensity field accessor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00675">agast_2d.h:675</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a7219fa5b5ffa8a41e67f2a999ef55a4f"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a7219fa5b5ffa8a41e67f2a999ef55a4f">pcl::AgastKeypoint2DBase::setMaxKeypoints</a></div><div class="ttdeci">void setMaxKeypoints(const unsigned int nr_max_keypoints)</div><div class="ttdoc">Sets the maximum number of keypoints to return.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00607">agast_2d.h:607</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html">pcl::AgastKeypoint2DBase</a></div><div class="ttdoc">Detects 2D AGAST corner points.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00556">agast_2d.h:556</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a38fcda315ed1385558e44544635c818a"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a38fcda315ed1385558e44544635c818a">pcl::AgastKeypoint2DBase::setMaxDataValue</a></div><div class="ttdeci">void setMaxDataValue(const double bmax)</div><div class="ttdoc">Sets the max image data value (affects how many iterations AGAST does)</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00623">agast_2d.h:623</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_html_aa9f89c26833e11888787bd0947fd98b7"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d.html#aa9f89c26833e11888787bd0947fd98b7">pcl::AgastKeypoint2D::PointCloudOut</a></div><div class="ttdeci">typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00722">agast_2d.h:722</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_aad57d4be9cd0653695650608644fb820"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#aad57d4be9cd0653695650608644fb820">pcl::keypoints::agast::AbstractAgastDetector::nr_max_keypoints_</a></div><div class="ttdeci">unsigned int nr_max_keypoints_</div><div class="ttdoc">The maximum number of keypoints to return.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00252">agast_2d.h:252</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a3fa742a17e73bbf367a5ec67402efeef"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a3fa742a17e73bbf367a5ec67402efeef">pcl::AgastKeypoint2DBase::threshold_</a></div><div class="ttdeci">double threshold_</div><div class="ttdoc">Threshold for corner detection.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00678">agast_2d.h:678</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a001b850a48eacb35566a468b8f07d170"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a001b850a48eacb35566a468b8f07d170">pcl::keypoints::agast::AbstractAgastDetector::AbstractAgastDetector</a></div><div class="ttdeci">AbstractAgastDetector(const std::size_t width, const std::size_t height, const double threshold, const double bmax)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00076">agast_2d.h:76</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index_html_af539e2451782144c52e3b4a826a291cd"><div class="ttname"><a href="structpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_1_1_score_index.html#af539e2451782144c52e3b4a826a291cd">pcl::keypoints::agast::AbstractAgastDetector::ScoreIndex::score</a></div><div class="ttdeci">int score</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00192">agast_2d.h:192</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af70fd81ce582ccabf683dd782ed3f032"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">pcl::PointCloud< PointInT >::ConstPtr</a></div><div class="ttdeci">shared_ptr< const PointCloud< PointInT > > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00407">point_cloud.h:407</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s_html_a3076c8763a5e3c3f761c5a54c204c241"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html#a3076c8763a5e3c3f761c5a54c204c241">pcl::keypoints::agast::AgastDetector7_12s::AgastDetector7_12s</a></div><div class="ttdeci">AgastDetector7_12s(const std::size_t width, const std::size_t height, const double threshold, const double bmax=255)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00278">agast_2d.h:278</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a104c6022e0721b4ff10e205f2fb959b6"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a104c6022e0721b4ff10e205f2fb959b6">pcl::AgastKeypoint2DBase::getAgastDetector</a></div><div class="ttdeci">AgastDetectorPtr getAgastDetector()</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00658">agast_2d.h:658</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a7fcafff800893f95e1dc9ed9e7a58d14"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a7fcafff800893f95e1dc9ed9e7a58d14">pcl::AgastKeypoint2DBase::setThreshold</a></div><div class="ttdeci">void setThreshold(const double threshold)</div><div class="ttdoc">Sets the threshold for corner detection.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00590">agast_2d.h:590</a></div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2keypoint_8h_source.html#l00049">keypoint.h:49</a></div></div>
<div class="ttc" id="astructpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion_html_ab6366ff352c57ec90fa4ef0bce8354fe"><div class="ttname"><a href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html#ab6366ff352c57ec90fa4ef0bce8354fe">pcl::keypoints::internal::AgastApplyNonMaxSuppresion::AgastApplyNonMaxSuppresion</a></div><div class="ttdeci">AgastApplyNonMaxSuppresion(const std::vector< unsigned char > &image_data, const pcl::PointCloud< pcl::PointUV > &tmp_cloud, const pcl::keypoints::agast::AbstractAgastDetector::Ptr &detector, pcl::PointCloud< Out > &output)</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00484">agast_2d.h:484</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a28fdd805e64e27e97e26522eef5d86f1"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a28fdd805e64e27e97e26522eef5d86f1">pcl::keypoints::agast::AbstractAgastDetector::threshold_</a></div><div class="ttdeci">double threshold_</div><div class="ttdoc">Threshold for corner detection.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00249">agast_2d.h:249</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector_html_a6846bbbbd9b4d6d063613a7fc454314d"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_abstract_agast_detector.html#a6846bbbbd9b4d6d063613a7fc454314d">pcl::keypoints::agast::AbstractAgastDetector::setThreshold</a></div><div class="ttdeci">void setThreshold(const double threshold)</div><div class="ttdoc">Sets the threshold for corner detection.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00142">agast_2d.h:142</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a15d0e86af47e8996d798699e3d095ec5"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a15d0e86af47e8996d798699e3d095ec5">pcl::AgastKeypoint2DBase::PointCloudOut</a></div><div class="ttdeci">typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00560">agast_2d.h:560</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_oast_detector9__16_html_a26720817e798da6cf60076fddfc4265d"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_oast_detector9__16.html#a26720817e798da6cf60076fddfc4265d">pcl::keypoints::agast::OastDetector9_16::OastDetector9_16</a></div><div class="ttdeci">OastDetector9_16(const std::size_t width, const std::size_t height, const double threshold, const double bmax=255)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00420">agast_2d.h:420</a></div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a8e964def6d3ebe2e75ca1efa722225bf"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a8e964def6d3ebe2e75ca1efa722225bf">pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::PointCloudInConstPtr</a></div><div class="ttdeci">typename PointCloudIn::ConstPtr PointCloudInConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="keypoints_2include_2pcl_2keypoints_2keypoint_8h_source.html#l00068">keypoint.h:68</a></div></div>
<div class="ttc" id="apcl__macros_8h_html_a2b443b7908f11aed38b620b570e5ebce"><div class="ttname"><a href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a></div><div class="ttdeci">#define PCL_EXPORTS</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00323">pcl_macros.h:323</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_agast_detector5__8_html_abb5851e7c9180419066fb660f5c1da60"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html#abb5851e7c9180419066fb660f5c1da60">pcl::keypoints::agast::AgastDetector5_8::~AgastDetector5_8</a></div><div class="ttdeci">~AgastDetector5_8()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00359">agast_2d.h:359</a></div></div>
<div class="ttc" id="aclasspcl_1_1keypoints_1_1agast_1_1_agast_detector5__8_html"><div class="ttname"><a href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector5__8.html">pcl::keypoints::agast::AgastDetector5_8</a></div><div class="ttdoc">Detector class for AGAST corner point detector (5_8).</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00337">agast_2d.h:337</a></div></div>
<div class="ttc" id="aclasspcl_1_1_agast_keypoint2_d_base_html_a9ee609d7022fc586127729029ce27447"><div class="ttname"><a href="classpcl_1_1_agast_keypoint2_d_base.html#a9ee609d7022fc586127729029ce27447">pcl::AgastKeypoint2DBase::detector_</a></div><div class="ttdeci">AgastDetectorPtr detector_</div><div class="ttdoc">The Agast detector to use.</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00687">agast_2d.h:687</a></div></div>
<hr>
<div id="footer">
<p>
Except where otherwise noted, the PointClouds.org web pages are licensed under <a href="http://creativecommons.org/licenses/by/3.0/">Creative Commons Attribution 3.0</a>.
</p>
<p>Pages generated on Sun Dec 20 2020 13:18:27</p>
</div> <!-- #footer -->
</body>
</html>
此处可能存在不合适展示的内容，页面不予展示。您可通过相关编辑功能自查并修改。
如您确认内容无涉及 不当用语 / 纯广告导流 / 暴力 / 低俗色情 / 侵权 / 盗版 / 虚假 / 无价值内容或违法国家有关法律法规的内容，可点击提交进行申诉，我们将尽快为您处理。
马建仓 AI 助手