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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> * keypoint.h</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> * Created on: May 28, 2012</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> * Author: somani</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <pcl/2d/edge.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">template</span> <<span class="keyword">typename</span> ImageType></div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html"> 49</a></span> <span class="keyword">class </span><a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="classpcl_1_1_edge.html">Edge<ImageType, ImageType></a> edge_detection;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="classpcl_1_1_convolution.html">Convolution<ImageType></a> conv_2d;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a196c2d59225b820f79938b859c241b1a"> 55</a></span>  <a class="code" href="classpcl_1_1_keypoint.html#a196c2d59225b820f79938b859c241b1a">Keypoint</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="classpcl_1_1_keypoint.html#ac3192deeb5d74d647768b472ec44baa6">harrisCorner</a>(ImageType& output,</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  ImageType& input,</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> sigma_d,</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> sigma_i,</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> alpha,</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> thresh);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="classpcl_1_1_keypoint.html#aa75a9bc1a92a269bd02d702314cf84ad">hessianBlob</a>(ImageType& output, ImageType& input, <span class="keyword">const</span> <span class="keywordtype">float</span> sigma, <span class="keywordtype">bool</span> SCALE);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="classpcl_1_1_keypoint.html#aa75a9bc1a92a269bd02d702314cf84ad">hessianBlob</a>(ImageType& output,</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  ImageType& input,</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> start_scale,</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> scaling_factor,</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> num_scales);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="classpcl_1_1_keypoint.html#a5d0f6762964c3be793623ab491aff190">imageElementMultiply</a>(ImageType& output, ImageType& input1, ImageType& input2);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> };</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> } <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="preprocessor">#include <pcl/2d/impl/keypoint.hpp></span></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html"><div class="ttname"><a href="classpcl_1_1_convolution.html">pcl::Convolution< ImageType ></a></div></div>
<div class="ttc" id="aclasspcl_1_1_edge_html"><div class="ttname"><a href="classpcl_1_1_edge.html">pcl::Edge< ImageType, ImageType ></a></div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2keypoint_8h_source.html#l00049">keypoint.h:49</a></div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a196c2d59225b820f79938b859c241b1a"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a196c2d59225b820f79938b859c241b1a">pcl::Keypoint::Keypoint</a></div><div class="ttdeci">Keypoint()=default</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a5d0f6762964c3be793623ab491aff190"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a5d0f6762964c3be793623ab491aff190">pcl::Keypoint::imageElementMultiply</a></div><div class="ttdeci">void imageElementMultiply(ImageType &output, ImageType &input1, ImageType &input2)</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2impl_2keypoint_8hpp_source.html#l00244">keypoint.hpp:244</a></div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aa75a9bc1a92a269bd02d702314cf84ad"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aa75a9bc1a92a269bd02d702314cf84ad">pcl::Keypoint::hessianBlob</a></div><div class="ttdeci">void hessianBlob(ImageType &output, ImageType &input, const float sigma, bool SCALE)</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2impl_2keypoint_8hpp_source.html#l00122">keypoint.hpp:122</a></div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_ac3192deeb5d74d647768b472ec44baa6"><div class="ttname"><a href="classpcl_1_1_keypoint.html#ac3192deeb5d74d647768b472ec44baa6">pcl::Keypoint::harrisCorner</a></div><div class="ttdeci">void harrisCorner(ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2impl_2keypoint_8hpp_source.html#l00054">keypoint.hpp:54</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
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