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#include <pcl/2d/kernel.h>

Public Types

enum KERNEL_ENUM {
SOBEL_X, SOBEL_Y, PREWITT_X, PREWITT_Y,
ROBERTS_X, ROBERTS_Y, LOG, DERIVATIVE_CENTRAL_X,
DERIVATIVE_FORWARD_X, DERIVATIVE_BACKWARD_X, DERIVATIVE_CENTRAL_Y, DERIVATIVE_FORWARD_Y,
DERIVATIVE_BACKWARD_Y, GAUSSIAN
}
Different types of kernels available. More...

Public Member Functions

kernel ()
void fetchKernel (pcl::PointCloud< PointT > &kernel)
void gaussianKernel (pcl::PointCloud< PointT > &kernel)
void loGKernel (pcl::PointCloud< PointT > &kernel)
void sobelKernelX (pcl::PointCloud< PointT > &kernel)
void prewittKernelX (pcl::PointCloud< PointT > &kernel)
void robertsKernelX (pcl::PointCloud< PointT > &kernel)
void sobelKernelY (pcl::PointCloud< PointT > &kernel)
void prewittKernelY (pcl::PointCloud< PointT > &kernel)
void robertsKernelY (pcl::PointCloud< PointT > &kernel)
void derivativeXCentralKernel (pcl::PointCloud< PointT > &kernel)
void derivativeYCentralKernel (pcl::PointCloud< PointT > &kernel)
void derivativeXForwardKernel (pcl::PointCloud< PointT > &kernel)
void derivativeYForwardKernel (pcl::PointCloud< PointT > &kernel)
void derivativeXBackwardKernel (pcl::PointCloud< PointT > &kernel)
void derivativeYBackwardKernel (PointCloud< PointT > &kernel)
void setKernelType (KERNEL_ENUM kernel_type)
void setKernelSize (int kernel_size)
void setKernelSigma (float kernel_sigma)

Public Attributes

int kernel_size_
float sigma_
KERNEL_ENUM kernel_type_

Detailed Description

template<typename PointT>
class pcl::kernel< PointT >

Definition at line 46 of file kernel.h.

Member Enumeration Documentation

KERNEL_ENUM

template<typename PointT >
enum pcl::kernel::KERNEL_ENUM

Different types of kernels available.

Enumerator
SOBEL_X

SOBEL_X.

SOBEL_Y

SOBEL_Y.

PREWITT_X

PREWITT_X.

PREWITT_Y

PREWITT_Y.

ROBERTS_X

ROBERTS_X.

ROBERTS_Y

ROBERTS_Y.

LOG

LOG.

DERIVATIVE_CENTRAL_X

DERIVATIVE_CENTRAL_X.

DERIVATIVE_FORWARD_X

DERIVATIVE_FORWARD_X.

DERIVATIVE_BACKWARD_X

DERIVATIVE_BACKWARD_X.

DERIVATIVE_CENTRAL_Y

DERIVATIVE_CENTRAL_Y.

DERIVATIVE_FORWARD_Y

DERIVATIVE_FORWARD_Y.

DERIVATIVE_BACKWARD_Y

DERIVATIVE_BACKWARD_Y.

GAUSSIAN

GAUSSIAN.

Definition at line 49 of file kernel.h.

Constructor & Destructor Documentation

kernel()

template<typename PointT >
pcl::kernel< PointT >::kernel ( )
inline

Definition at line 70 of file kernel.h.

Member Function Documentation

derivativeXBackwardKernel()

template<typename PointT >
void pcl::kernel< PointT >::derivativeXBackwardKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

kernel [-1 1 0]

Definition at line 270 of file kernel.hpp.

derivativeXCentralKernel()

template<typename PointT >
void pcl::kernel< PointT >::derivativeXCentralKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

kernel [-1 0 1]

Definition at line 246 of file kernel.hpp.

derivativeXForwardKernel()

template<typename PointT >
void pcl::kernel< PointT >::derivativeXForwardKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

kernel [0 -1 1]

Definition at line 258 of file kernel.hpp.

derivativeYBackwardKernel()

template<typename PointT >
void pcl::kernel< PointT >::derivativeYBackwardKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

kernel [-1 1 0]'

Definition at line 306 of file kernel.hpp.

derivativeYCentralKernel()

template<typename PointT >
void pcl::kernel< PointT >::derivativeYCentralKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

kernel [-1 0 1]'

Definition at line 282 of file kernel.hpp.

derivativeYForwardKernel()

template<typename PointT >
void pcl::kernel< PointT >::derivativeYForwardKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

kernel [0 -1 1]'

Definition at line 294 of file kernel.hpp.

fetchKernel()

template<typename PointT >
void pcl::kernel< PointT >::fetchKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

Helper function which returns the kernel selected by the kernel_type_ enum

Definition at line 46 of file kernel.hpp.

gaussianKernel()

template<typename PointT >
void pcl::kernel< PointT >::gaussianKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

Gaussian kernel with size (kernel_size_ x kernel_size_) and variance sigma_

Definition at line 96 of file kernel.hpp.

Referenced by pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::hessianBlob().

loGKernel()

template<typename PointT >
void pcl::kernel< PointT >::loGKernel ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

Laplacian of Gaussian kernel with size (kernel_size_ x kernel_size_) and variance sigma_

Definition at line 122 of file kernel.hpp.

prewittKernelX()

template<typename PointT >
void pcl::kernel< PointT >::prewittKernelX ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

3x3 Prewitt kernel in the X direction

Definition at line 166 of file kernel.hpp.

prewittKernelY()

template<typename PointT >
void pcl::kernel< PointT >::prewittKernelY ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

3x3 Prewitt kernel in the Y direction

Definition at line 215 of file kernel.hpp.

robertsKernelX()

template<typename PointT >
void pcl::kernel< PointT >::robertsKernelX ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

2x2 Roberts kernel in the X direction

Definition at line 184 of file kernel.hpp.

robertsKernelY()

template<typename PointT >
void pcl::kernel< PointT >::robertsKernelY ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

2x2 Roberts kernel in the Y direction

Definition at line 233 of file kernel.hpp.

setKernelSigma()

template<typename PointT >
void pcl::kernel< PointT >::setKernelSigma ( float kernel_sigma )
Parameters
kernel_sigma variance of the Gaussian or LoG kernels.

Setter function for kernel_sigma_

Definition at line 332 of file kernel.hpp.

setKernelSize()

template<typename PointT >
void pcl::kernel< PointT >::setKernelSize ( int kernel_size )
Parameters
kernel_size kernel of size kernel_size x kernel_size is created(LoG and Gaussian only)

Setter function for kernel_size_

Definition at line 325 of file kernel.hpp.

setKernelType()

template<typename PointT >
void pcl::kernel< PointT >::setKernelType ( KERNEL_ENUM kernel_type )
Parameters
kernel_type enum indicating the kernel type wanted

select the kernel type.

Definition at line 318 of file kernel.hpp.

sobelKernelX()

template<typename PointT >
void pcl::kernel< PointT >::sobelKernelX ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

3x3 Sobel kernel in the X direction

Definition at line 148 of file kernel.hpp.

sobelKernelY()

template<typename PointT >
void pcl::kernel< PointT >::sobelKernelY ( pcl::PointCloud< PointT > & kernel )
Parameters
kernel Kernel point cloud passed by reference

3x3 Sobel kernel in the Y direction

Definition at line 197 of file kernel.hpp.

Member Data Documentation

kernel_size_

template<typename PointT >
int pcl::kernel< PointT >::kernel_size_

Definition at line 66 of file kernel.h.

kernel_type_

template<typename PointT >
KERNEL_ENUM pcl::kernel< PointT >::kernel_type_

Definition at line 68 of file kernel.h.

sigma_

template<typename PointT >
float pcl::kernel< PointT >::sigma_

Definition at line 67 of file kernel.h.


The documentation for this class was generated from the following files:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1kernel.html