keypoint.h

/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 *  keypoint.h
 *
 *  Created on: May 28, 2012
 *      Author: somani
 */
 
#pragma once
 
#include <pcl/2d/edge.h>
 
namespace pcl {
 
template <typename ImageType>
class Keypoint {
private:
  Edge<ImageType, ImageType> edge_detection;
  Convolution<ImageType> conv_2d;
 
public:
  Keypoint() = default;
 
  void
  harrisCorner(ImageType& output,
               ImageType& input,
               const float sigma_d,
               const float sigma_i,
               const float alpha,
               const float thresh);
 
  void
  hessianBlob(ImageType& output, ImageType& input, const float sigma, bool SCALE);
 
  void
  hessianBlob(ImageType& output,
              ImageType& input,
              const float start_scale,
              const float scaling_factor,
              const int num_scales);
 
  void
  imageElementMultiply(ImageType& output, ImageType& input1, ImageType& input2);
};
 
} // namespace pcl
 
#include <pcl/2d/impl/keypoint.hpp>