Point Cloud Library (PCL)  1.12.0-dev
keypoint.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2012, Willow Garage, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of Willow Garage, Inc. nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  * keypoint.h
37  *
38  * Created on: May 28, 2012
39  * Author: somani
40  */
41 
42 #pragma once
43 
44 #include <pcl/2d/edge.h>
45 
46 namespace pcl {
47 
48 template <typename ImageType>
49 class Keypoint {
50 private:
51  Edge<ImageType, ImageType> edge_detection;
52  Convolution<ImageType> conv_2d;
53 
54 public:
55  Keypoint() {}
56 
57  void
58  harrisCorner(ImageType& output,
59  ImageType& input,
60  const float sigma_d,
61  const float sigma_i,
62  const float alpha,
63  const float thresh);
64 
65  void
66  hessianBlob(ImageType& output, ImageType& input, const float sigma, bool SCALE);
67 
68  void
69  hessianBlob(ImageType& output,
70  ImageType& input,
71  const float start_scale,
72  const float scaling_factor,
73  const int num_scales);
74 
75  void
76  imageElementMultiply(ImageType& output, ImageType& input1, ImageType& input2);
77 };
78 
79 } // namespace pcl
80 
81 #include <pcl/2d/impl/keypoint.hpp>
pcl
Definition: convolution.h:46
pcl::Keypoint::imageElementMultiply
void imageElementMultiply(ImageType &output, ImageType &input1, ImageType &input2)
Definition: keypoint.hpp:244
pcl::Keypoint::hessianBlob
void hessianBlob(ImageType &output, ImageType &input, const float sigma, bool SCALE)
Definition: keypoint.hpp:122
pcl::Keypoint::harrisCorner
void harrisCorner(ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
Definition: keypoint.hpp:54
pcl::Convolution< ImageType >
pcl::Keypoint::Keypoint
Keypoint()
Definition: keypoint.h:55
pcl::Keypoint
Keypoint represents the base class for key points.
Definition: keypoint.h:49
pcl::Edge< ImageType, ImageType >