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<div class="title">agast_2d.hpp</div> </div>
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<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>
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<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>
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<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>
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<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">#ifndef PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#define PCL_KEYPOINTS_AGAST_KEYPOINT_2D_IMPL_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <pcl/common/io.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</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> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d_base.html#a912a118e07044efefe78135be6f210e6"> 49</a></span> <a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a912a118e07044efefe78135be6f210e6">AgastKeypoint2DBase<PointInT, PointOutT, IntensityT>::initCompute</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"> 51</span>  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_keypoint.html">pcl::Keypoint<PointInT, PointOutT>::initCompute</a> ())</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  PCL_ERROR (<span class="stringliteral">"[pcl::%s::initCompute] init failed.!\n"</span>, name_.c_str ());</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  }</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">if</span> (!input_->isOrganized ())</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  {</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  PCL_ERROR (<span class="stringliteral">"[pcl::%s::initCompute] %s doesn't support non organized clouds!\n"</span>, name_.c_str ());</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> }</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>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</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="keywordtype">void</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_agast_keypoint2_d.html#abb968464ebf1954afc96334ace72cd26"> 68</a></span> <a class="code" href="classpcl_1_1_agast_keypoint2_d.html#abb968464ebf1954afc96334ace72cd26">AgastKeypoint2D<PointInT, PointOutT>::detectKeypoints</a> (<a class="code" href="classpcl_1_1_agast_keypoint2_d.html#aa9f89c26833e11888787bd0947fd98b7">PointCloudOut</a> &output)</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// image size</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">const</span> std::size_t width = input_->width;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">const</span> std::size_t height = input_->height;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// destination for intensity data; will be forwarded to AGAST</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  std::vector<unsigned char> image_data (width*height);</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < image_data.size (); ++i)</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  image_data[i] = <span class="keyword">static_cast<</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">></span> (intensity_ ((*input_)[i]));</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">if</span> (!detector_)</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  detector_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1keypoints_1_1agast_1_1_agast_detector7__12s.html">pcl::keypoints::agast::AgastDetector7_12s</a> (width, height, threshold_, bmax_));</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  detector_->setMaxKeypoints (nr_max_keypoints_);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">if</span> (apply_non_max_suppression_)</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<pcl::PointUV></a> tmp_cloud;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  detector_->detectKeypoints (image_data, tmp_cloud);</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html">pcl::keypoints::internal::AgastApplyNonMaxSuppresion<PointOutT></a> anms (</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  image_data, tmp_cloud, detector_, output);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html">pcl::keypoints::internal::AgastDetector<PointOutT></a> dec (</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  image_data, detector_, output);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  }</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="comment">// we do not change the denseness</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  output.is_dense = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> }</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> } <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="preprocessor">#define AgastKeypoint2D(T,I) template class PCL_EXPORTS pcl::AgastKeypoint2D<T,I>;</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
</div><!-- fragment --></div><!-- contents -->
<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="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_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_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="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_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="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_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>
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