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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<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>&#160;<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>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<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>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<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&gt; <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>&#160;<a class="code" href="classpcl_1_1_agast_keypoint2_d_base.html#a912a118e07044efefe78135be6f210e6">AgastKeypoint2DBase&lt;PointInT, PointOutT, IntensityT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt;PointInT, PointOutT&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] init failed.!\n&quot;</span>, name_.c_str ());</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  }</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">if</span> (!input_-&gt;isOrganized ())</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] %s doesn&#39;t support non organized clouds!\n&quot;</span>, name_.c_str ());</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <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>&#160;<a class="code" href="classpcl_1_1_agast_keypoint2_d.html#abb968464ebf1954afc96334ace72cd26">AgastKeypoint2D&lt;PointInT, PointOutT&gt;::detectKeypoints</a> (<a class="code" href="classpcl_1_1_agast_keypoint2_d.html#aa9f89c26833e11888787bd0947fd98b7">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// image size</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">const</span> std::size_t width = input_-&gt;width;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">const</span> std::size_t height = input_-&gt;height;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <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>&#160;  std::vector&lt;unsigned char&gt; image_data (width*height);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; image_data.size (); ++i)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    image_data[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (intensity_ ((*input_)[i]));</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">if</span> (!detector_)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    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>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  detector_-&gt;setMaxKeypoints (nr_max_keypoints_);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">if</span> (apply_non_max_suppression_)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointUV&gt;</a> tmp_cloud;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    detector_-&gt;detectKeypoints (image_data, tmp_cloud);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_apply_non_max_suppresion.html">pcl::keypoints::internal::AgastApplyNonMaxSuppresion&lt;PointOutT&gt;</a> anms (</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        image_data, tmp_cloud, detector_, output);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="structpcl_1_1keypoints_1_1internal_1_1_agast_detector.html">pcl::keypoints::internal::AgastDetector&lt;PointOutT&gt;</a> dec (</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        image_data, detector_, output);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// we do not change the denseness</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  output.is_dense = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#define AgastKeypoint2D(T,I) template class PCL_EXPORTS pcl::AgastKeypoint2D&lt;T,I&gt;;</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </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&lt; PointInT, PointOutT &gt;::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="agast__2d_8h_source.html#l00718">agast_2d.h:718</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 &amp;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_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>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointUV &gt;</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:267</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="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:483</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:512</a></div></div>
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