Point Cloud Library (PCL)
1.8.1
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Implementation of the BRISK-descriptor, based on the original code and paper reference by. More...
#include <pcl/features/brisk_2d.h>
Public Types | |
typedef boost::shared_ptr< BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT > > | Ptr |
typedef boost::shared_ptr< const BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT > > | ConstPtr |
typedef pcl::PointCloud< PointInT > | PointCloudInT |
typedef pcl::PointCloud< PointInT >::ConstPtr | PointCloudInTConstPtr |
typedef pcl::PointCloud< KeypointT > | KeypointPointCloudT |
typedef pcl::PointCloud< KeypointT >::Ptr | KeypointPointCloudTPtr |
typedef pcl::PointCloud< KeypointT >::ConstPtr | KeypointPointCloudTConstPtr |
typedef pcl::PointCloud< PointOutT > | PointCloudOutT |
Public Member Functions | |
BRISK2DEstimation () | |
Constructor. More... | |
virtual | ~BRISK2DEstimation () |
Destructor. More... | |
void | setRotationInvariance (const bool enable) |
Determines whether rotation invariance is enabled. More... | |
void | setScaleInvariance (const bool enable) |
Determines whether scale invariance is enabled. More... | |
void | setInputCloud (const PointCloudInTConstPtr &cloud) |
Sets the input cloud. More... | |
void | setKeypoints (const KeypointPointCloudTPtr &keypoints) |
Sets the input keypoints. More... | |
void | compute (PointCloudOutT &output) |
Computes the descriptors for the previously specified points and input data. More... | |
Protected Member Functions | |
void | generateKernel (std::vector< float > &radius_list, std::vector< int > &number_list, float d_max=5.85f, float d_min=8.2f, std::vector< int > index_change=std::vector< int >()) |
Call this to generate the kernel: circle of radius r (pixels), with n points; short pairings with dMax, long pairings with dMin. More... | |
int | smoothedIntensity (const std::vector< unsigned char > &image, int image_width, int image_height, const std::vector< int > &integral_image, const float key_x, const float key_y, const unsigned int scale, const unsigned int rot, const unsigned int point) const |
Compute the smoothed intensity for a given x/y position in the image. More... | |
Implementation of the BRISK-descriptor, based on the original code and paper reference by.
Definition at line 68 of file brisk_2d.h.
typedef boost::shared_ptr<const BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT> > pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::ConstPtr |
Definition at line 72 of file brisk_2d.h.
typedef pcl::PointCloud<KeypointT> pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::KeypointPointCloudT |
Definition at line 77 of file brisk_2d.h.
typedef pcl::PointCloud<KeypointT>::ConstPtr pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::KeypointPointCloudTConstPtr |
Definition at line 79 of file brisk_2d.h.
typedef pcl::PointCloud<KeypointT>::Ptr pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::KeypointPointCloudTPtr |
Definition at line 78 of file brisk_2d.h.
typedef pcl::PointCloud<PointInT> pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::PointCloudInT |
Definition at line 74 of file brisk_2d.h.
typedef pcl::PointCloud<PointInT>::ConstPtr pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::PointCloudInTConstPtr |
Definition at line 75 of file brisk_2d.h.
typedef pcl::PointCloud<PointOutT> pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::PointCloudOutT |
Definition at line 81 of file brisk_2d.h.
typedef boost::shared_ptr<BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT> > pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::Ptr |
Definition at line 71 of file brisk_2d.h.
pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::BRISK2DEstimation | ( | ) |
Constructor.
Definition at line 45 of file brisk_2d.hpp.
References pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::generateKernel().
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virtual |
Destructor.
Definition at line 86 of file brisk_2d.hpp.
void pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::compute | ( | PointCloudOutT & | output | ) |
Computes the descriptors for the previously specified points and input data.
[out] | output | descriptors the destination for the computed descriptors. |
Definition at line 447 of file brisk_2d.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::resize(), pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::smoothedIntensity(), and pcl::PointCloud< PointT >::width.
Referenced by pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::setKeypoints().
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Call this to generate the kernel: circle of radius r (pixels), with n points; short pairings with dMax, long pairings with dMin.
Definition at line 97 of file brisk_2d.hpp.
Referenced by pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::BRISK2DEstimation(), and pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::setKeypoints().
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Sets the input cloud.
[in] | cloud | the input cloud. |
Definition at line 111 of file brisk_2d.h.
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Sets the input keypoints.
[in] | keypoints | the input cloud containing the keypoints. |
Definition at line 120 of file brisk_2d.h.
References pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::compute(), pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::generateKernel(), and pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::smoothedIntensity().
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Determines whether rotation invariance is enabled.
[in] | enable | determines whether rotation invariance is enabled. |
Definition at line 93 of file brisk_2d.h.
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Determines whether scale invariance is enabled.
[in] | enable | determines whether scale invariance is enabled. |
Definition at line 102 of file brisk_2d.h.
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Compute the smoothed intensity for a given x/y position in the image.
Definition at line 219 of file brisk_2d.hpp.
References pcl::B.
Referenced by pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::compute(), and pcl::BRISK2DEstimation< PointInT, PointOutT, KeypointT, IntensityT >::setKeypoints().