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