agast_2d.hpp

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#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