Point Cloud Library (PCL)  1.14.1-dev
keypoint.h
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36  * keypoint.h
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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() = default;
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>
Keypoint represents the base class for key points.
Definition: keypoint.h:49
Keypoint()=default
void imageElementMultiply(ImageType &output, ImageType &input1, ImageType &input2)
Definition: keypoint.hpp:244
void hessianBlob(ImageType &output, ImageType &input, const float sigma, bool SCALE)
Definition: keypoint.hpp:122
void harrisCorner(ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
Definition: keypoint.hpp:54