71 const std::size_t width = input_->width;
72 const std::size_t height = input_->height;
75 std::vector<unsigned char> image_data (width*height);
77 for (std::size_t i = 0; i < image_data.size (); ++i)
78 image_data[i] =
static_cast<unsigned char> (intensity_ ((*input_)[i]));
83 detector_->setMaxKeypoints (nr_max_keypoints_);
85 if (apply_non_max_suppression_)
88 detector_->detectKeypoints (image_data, tmp_cloud);
90 pcl::keypoints::internal::AgastApplyNonMaxSuppresion<PointOutT> anms (
91 image_data, tmp_cloud, detector_, output);
95 pcl::keypoints::internal::AgastDetector<PointOutT> dec (
96 image_data, detector_, output);
100 output.is_dense =
true;