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BRISK Scale Space helper. More...

#include <pcl/keypoints/brisk_2d.h>

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Public Member Functions

ScaleSpace (int octaves=3)
Constructor. More...
~ScaleSpace ()
void constructPyramid (const std::vector< unsigned char > &image, int width, int height)
Construct the image pyramids. More...
void getKeypoints (const int threshold, std::vector< pcl::PointWithScale, Eigen::aligned_allocator< pcl::PointWithScale > > &keypoints)
Get the keypoints for the associated image and threshold. More...

Protected Member Functions

bool isMax2D (const std::uint8_t layer, const int x_layer, const int y_layer)
Nonmax suppression. More...
float refine1D (const float s_05, const float s0, const float s05, float &max)
1D (scale axis) refinement: around octave More...
float refine1D_1 (const float s_05, const float s0, const float s05, float &max)
1D (scale axis) refinement: around intra More...
float refine1D_2 (const float s_05, const float s0, const float s05, float &max)
1D (scale axis) refinement: around octave 0 only More...
float subpixel2D (const int s_0_0, const int s_0_1, const int s_0_2, const int s_1_0, const int s_1_1, const int s_1_2, const int s_2_0, const int s_2_1, const int s_2_2, float &delta_x, float &delta_y)
2D maximum refinement More...
float refine3D (const std::uint8_t layer, const int x_layer, const int y_layer, float &x, float &y, float &scale, bool &ismax)
3D maximum refinement centered around (x_layer,y_layer) More...
int getScoreAbove (const std::uint8_t layer, const int x_layer, const int y_layer)
interpolated score access with recalculation when needed More...
int getScoreBelow (const std::uint8_t layer, const int x_layer, const int y_layer)
float getScoreMaxAbove (const std::uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool &ismax, float &dx, float &dy)
return the maximum of score patches above or below More...
float getScoreMaxBelow (const std::uint8_t layer, const int x_layer, const int y_layer, const int threshold, bool &ismax, float &dx, float &dy)

Protected Attributes

std::uint8_t layers_
std::vector< pcl::keypoints::brisk::Layer > pyramid_
std::uint8_t threshold_
std::uint8_t safe_threshold_
float safety_factor_ {1.0}
float basic_size_ {12.0}

Detailed Description

BRISK Scale Space helper.

Definition at line 390 of file brisk_2d.h.

Constructor & Destructor Documentation

ScaleSpace()

pcl::keypoints::brisk::ScaleSpace::ScaleSpace ( int octaves = 3 )

Constructor.

Specify the number of octaves.

Parameters
[in] octaves the number of octaves (default: 3)

~ScaleSpace()

pcl::keypoints::brisk::ScaleSpace::~ScaleSpace ( )

Member Function Documentation

constructPyramid()

void pcl::keypoints::brisk::ScaleSpace::constructPyramid ( const std::vector< unsigned char > & image,
int width,
int height
)

Construct the image pyramids.

Parameters
[in] image the image to construct pyramids for
[in] width the image width
[in] height the image height

Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints().

getKeypoints()

void pcl::keypoints::brisk::ScaleSpace::getKeypoints ( const int threshold,
std::vector< pcl::PointWithScale, Eigen::aligned_allocator< pcl::PointWithScale > > & keypoints
)

Get the keypoints for the associated image and threshold.

Parameters
[in] threshold the threshold for the keypoints
[out] keypoints the resultant list of keypoints

Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints().

getScoreAbove()

int pcl::keypoints::brisk::ScaleSpace::getScoreAbove ( const std::uint8_t layer,
const int x_layer,
const int y_layer
)
inlineprotected

interpolated score access with recalculation when needed

getScoreBelow()

int pcl::keypoints::brisk::ScaleSpace::getScoreBelow ( const std::uint8_t layer,
const int x_layer,
const int y_layer
)
inlineprotected

getScoreMaxAbove()

float pcl::keypoints::brisk::ScaleSpace::getScoreMaxAbove ( const std::uint8_t layer,
const int x_layer,
const int y_layer,
const int threshold,
bool & ismax,
float & dx,
float & dy
)
inlineprotected

return the maximum of score patches above or below

getScoreMaxBelow()

float pcl::keypoints::brisk::ScaleSpace::getScoreMaxBelow ( const std::uint8_t layer,
const int x_layer,
const int y_layer,
const int threshold,
bool & ismax,
float & dx,
float & dy
)
inlineprotected

isMax2D()

bool pcl::keypoints::brisk::ScaleSpace::isMax2D ( const std::uint8_t layer,
const int x_layer,
const int y_layer
)
inlineprotected

Nonmax suppression.

refine1D()

float pcl::keypoints::brisk::ScaleSpace::refine1D ( const float s_05,
const float s0,
const float s05,
float & max
)
inlineprotected

1D (scale axis) refinement: around octave

refine1D_1()

float pcl::keypoints::brisk::ScaleSpace::refine1D_1 ( const float s_05,
const float s0,
const float s05,
float & max
)
inlineprotected

1D (scale axis) refinement: around intra

refine1D_2()

float pcl::keypoints::brisk::ScaleSpace::refine1D_2 ( const float s_05,
const float s0,
const float s05,
float & max
)
inlineprotected

1D (scale axis) refinement: around octave 0 only

refine3D()

float pcl::keypoints::brisk::ScaleSpace::refine3D ( const std::uint8_t layer,
const int x_layer,
const int y_layer,
float & x,
float & y,
float & scale,
bool & ismax
)
inlineprotected

3D maximum refinement centered around (x_layer,y_layer)

subpixel2D()

float pcl::keypoints::brisk::ScaleSpace::subpixel2D ( const int s_0_0,
const int s_0_1,
const int s_0_2,
const int s_1_0,
const int s_1_1,
const int s_1_2,
const int s_2_0,
const int s_2_1,
const int s_2_2,
float & delta_x,
float & delta_y
)
inlineprotected

2D maximum refinement

Member Data Documentation

basic_size_

float pcl::keypoints::brisk::ScaleSpace::basic_size_ {12.0}
protected

Definition at line 476 of file brisk_2d.h.

layers_

std::uint8_t pcl::keypoints::brisk::ScaleSpace::layers_
protected

Definition at line 467 of file brisk_2d.h.

pyramid_

std::vector<pcl::keypoints::brisk::Layer> pcl::keypoints::brisk::ScaleSpace::pyramid_
protected

Definition at line 468 of file brisk_2d.h.

safe_threshold_

std::uint8_t pcl::keypoints::brisk::ScaleSpace::safe_threshold_
protected

Definition at line 472 of file brisk_2d.h.

safety_factor_

float pcl::keypoints::brisk::ScaleSpace::safety_factor_ {1.0}
protected

Definition at line 475 of file brisk_2d.h.

threshold_

std::uint8_t pcl::keypoints::brisk::ScaleSpace::threshold_
protected

Definition at line 471 of file brisk_2d.h.

The documentation for this class was generated from the following file:
  • pcl/keypoints/brisk_2d.h

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1keypoints_1_1brisk_1_1_scale_space.html

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