Point Cloud Library (PCL)  1.9.1-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 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>
A 2D convolution class.
Definition: convolution.h:59
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void imageElementMultiply(ImageType &output, ImageType &input1, ImageType &input2)
Definition: edge.h:48
Keypoint represents the base class for key points.
Definition: keypoint.h:48
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)