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127 | 127 | <div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  ImageType& input,</div> |
128 | 128 | <div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> sigma_d,</div> |
129 | 129 | <div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> sigma_i,</div> |
130 | | -<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> alpha,</div> |
| 130 | +<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#ac3192deeb5d74d647768b472ec44baa6"> 58</a></span>  <span class="keyword">const</span> <span class="keywordtype">float</span> alpha,</div> |
131 | 131 | <div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> thresh)</div> |
132 | 132 | <div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div> |
133 | 133 | <div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">/*creating the gaussian kernels*/</span></div> |
134 | 134 | <div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  ImageType kernel_d;</div> |
135 | 135 | <div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  ImageType kernel_i;</div> |
136 | 136 | <div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  conv_2d.gaussianKernel(5, sigma_d, kernel_d);</div> |
137 | 137 | <div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  conv_2d.gaussianKernel(5, sigma_i, kernel_i);</div> |
138 | | -<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div> |
| 138 | +<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#aa75a9bc1a92a269bd02d702314cf84ad"> 66</a></span>  </div> |
139 | 139 | <div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">/*scaling the image with differentiation scale*/</span></div> |
140 | 140 | <div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  ImageType smoothed_image;</div> |
141 | | -<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  conv_2d.convolve(smoothed_image, kernel_d, input);</div> |
| 141 | +<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a01397730ac2f3fc03286ba676ca3b5e4"> 69</a></span>  conv_2d.convolve(smoothed_image, kernel_d, input);</div> |
142 | 142 | <div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div> |
143 | 143 | <div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">/*image derivatives*/</span></div> |
144 | 144 | <div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  ImageType I_x, I_y;</div> |
145 | 145 | <div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  edge_detection.ComputeDerivativeXCentral(I_x, smoothed_image);</div> |
146 | 146 | <div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  edge_detection.ComputeDerivativeYCentral(I_y, smoothed_image);</div> |
147 | 147 | <div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div> |
148 | | -<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">/*second moment matrix*/</span></div> |
| 148 | +<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a5d0f6762964c3be793623ab491aff190"> 76</a></span>  <span class="comment">/*second moment matrix*/</span></div> |
149 | 149 | <div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  ImageType I_x2, I_y2, I_xI_y;</div> |
150 | 150 | <div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  imageElementMultiply(I_x2, I_x, I_x);</div> |
151 | 151 | <div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  imageElementMultiply(I_y2, I_y, I_y);</div> |
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328 | 328 | <div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  }</div> |
329 | 329 | <div class="line"><a name="l00257"></a><span class="lineno"> 257</span> }</div> |
330 | 330 | <div class="line"><a name="l00258"></a><span class="lineno"> 258</span> } <span class="comment">// namespace pcl</span></div> |
331 | | -</div><!-- fragment --></div><!-- contents --> |
332 | | -<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> |
333 | 331 | <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> |
334 | 332 | <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> |
335 | | -<div class="ttc" id="aclasspcl_1_1kernel_html_a95dd85f601f5c9eecb320f207da09af0"><div class="ttname"><a href="classpcl_1_1kernel.html#a95dd85f601f5c9eecb320f207da09af0">pcl::kernel::gaussianKernel</a></div><div class="ttdeci">void gaussianKernel(pcl::PointCloud< PointT > &kernel)</div><div class="ttdef"><b>Definition:</b> <a href="kernel_8hpp_source.html#l00096">kernel.hpp:96</a></div></div> |
336 | 333 | <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> |
337 | 334 | <div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel</a></div><div class="ttdef"><b>Definition:</b> <a href="kernel_8h_source.html#l00046">kernel.h:46</a></div></div> |
| 335 | +<div class="ttc" id="aclasspcl_1_1kernel_html_a95dd85f601f5c9eecb320f207da09af0"><div class="ttname"><a href="classpcl_1_1kernel.html#a95dd85f601f5c9eecb320f207da09af0">pcl::kernel::gaussianKernel</a></div><div class="ttdeci">void gaussianKernel(pcl::PointCloud< PointT > &kernel)</div><div class="ttdef"><b>Definition:</b> <a href="kernel_8hpp_source.html#l00096">kernel.hpp:96</a></div></div> |
| 336 | +<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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