Point Cloud Library (PCL)
1.10.1
pcl
2d
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
class
Keypoint
{
49
private
:
50
Edge
edge_detection;
51
Convolution
conv_2d;
52
53
public
:
54
Keypoint
() {}
55
56
void
57
harrisCorner
(ImageType& output,
58
ImageType& input,
59
const
float
sigma_d,
60
const
float
sigma_i,
61
const
float
alpha,
62
const
float
thresh);
63
64
void
65
hessianBlob
(ImageType& output, ImageType& input,
const
float
sigma,
bool
SCALE);
66
67
void
68
hessianBlob
(ImageType& output,
69
ImageType& input,
70
const
float
start_scale,
71
const
float
scaling_factor,
72
const
int
num_scales);
73
74
void
75
imageElementMultiply
(ImageType& output, ImageType& input1, ImageType& input2);
76
};
77
78
}
// namespace pcl
79
80
#include <pcl/2d/impl/keypoint.hpp>
pcl::Keypoint::harrisCorner
void harrisCorner(ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition:
convolution.h:45
pcl::Keypoint::hessianBlob
void hessianBlob(ImageType &output, ImageType &input, const float sigma, bool SCALE)
pcl::Convolution
A 2D convolution class.
Definition:
convolution.h:59
pcl::Keypoint::imageElementMultiply
void imageElementMultiply(ImageType &output, ImageType &input1, ImageType &input2)
pcl::Keypoint
Keypoint represents the base class for key points.
Definition:
keypoint.h:48
pcl::Keypoint::Keypoint
Keypoint()
Definition:
keypoint.h:54
pcl::Edge
Definition:
edge.h:48