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kernel.hpp
/*
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* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
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#pragma once
#include <pcl/2d/kernel.h>
namespace pcl {
template <typename PointT>
void
kernel<PointT>::fetchKernel(pcl::PointCloud<PointT>& kernel)
{
switch (kernel_type_) {
case SOBEL_X:
sobelKernelX(kernel);
break;
case SOBEL_Y:
sobelKernelY(kernel);
break;
case PREWITT_X:
prewittKernelX(kernel);
break;
case PREWITT_Y:
prewittKernelY(kernel);
break;
case ROBERTS_X:
robertsKernelX(kernel);
break;
case ROBERTS_Y:
robertsKernelY(kernel);
break;
case LOG:
loGKernel(kernel);
break;
case DERIVATIVE_CENTRAL_X:
derivativeXCentralKernel(kernel);
break;
case DERIVATIVE_FORWARD_X:
derivativeXForwardKernel(kernel);
break;
case DERIVATIVE_BACKWARD_X:
derivativeXBackwardKernel(kernel);
break;
case DERIVATIVE_CENTRAL_Y:
derivativeYCentralKernel(kernel);
break;
case DERIVATIVE_FORWARD_Y:
derivativeYForwardKernel(kernel);
break;
case DERIVATIVE_BACKWARD_Y:
derivativeYBackwardKernel(kernel);
break;
case GAUSSIAN:
gaussianKernel(kernel);
break;
}
}
template <typename PointT>
void
kernel<PointT>::gaussianKernel(pcl::PointCloud<PointT>& kernel)
{
float sum = 0;
kernel.resize(kernel_size_ * kernel_size_);
kernel.height = kernel_size_;
kernel.width = kernel_size_;
double sigma_sqr = 2 * sigma_ * sigma_;
for (int i = 0; i < kernel_size_; i++) {
for (int j = 0; j < kernel_size_; j++) {
int iks = (i - kernel_size_ / 2);
int jks = (j - kernel_size_ / 2);
kernel(j, i).intensity = std::exp(
static_cast<float>(-static_cast<double>(iks * iks + jks * jks) / sigma_sqr));
sum += (kernel(j, i).intensity);
}
}
// Normalizing the kernel
for (std::size_t i = 0; i < kernel.size(); ++i)
kernel[i].intensity /= sum;
}
template <typename PointT>
void
kernel<PointT>::loGKernel(pcl::PointCloud<PointT>& kernel)
{
float sum = 0;
kernel.resize(kernel_size_ * kernel_size_);
kernel.height = kernel_size_;
kernel.width = kernel_size_;
double sigma_sqr = 2 * sigma_ * sigma_;
for (int i = 0; i < kernel_size_; i++) {
for (int j = 0; j < kernel_size_; j++) {
int iks = (i - kernel_size_ / 2);
int jks = (j - kernel_size_ / 2);
float temp =
static_cast<float>(static_cast<double>(iks * iks + jks * jks) / sigma_sqr);
kernel(j, i).intensity = (1.0f - temp) * std::exp(-temp);
sum += kernel(j, i).intensity;
}
}
// Normalizing the kernel
for (std::size_t i = 0; i < kernel.size(); ++i)
kernel[i].intensity /= sum;
}
template <typename PointT>
void
kernel<PointT>::sobelKernelX(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(9);
kernel.height = 3;
kernel.width = 3;
kernel(0, 0).intensity = -1;
kernel(1, 0).intensity = 0;
kernel(2, 0).intensity = 1;
kernel(0, 1).intensity = -2;
kernel(1, 1).intensity = 0;
kernel(2, 1).intensity = 2;
kernel(0, 2).intensity = -1;
kernel(1, 2).intensity = 0;
kernel(2, 2).intensity = 1;
}
template <typename PointT>
void
kernel<PointT>::prewittKernelX(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(9);
kernel.height = 3;
kernel.width = 3;
kernel(0, 0).intensity = -1;
kernel(1, 0).intensity = 0;
kernel(2, 0).intensity = 1;
kernel(0, 1).intensity = -1;
kernel(1, 1).intensity = 0;
kernel(2, 1).intensity = 1;
kernel(0, 2).intensity = -1;
kernel(1, 2).intensity = 0;
kernel(2, 2).intensity = 1;
}
template <typename PointT>
void
kernel<PointT>::robertsKernelX(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(4);
kernel.height = 2;
kernel.width = 2;
kernel(0, 0).intensity = 1;
kernel(1, 0).intensity = 0;
kernel(0, 1).intensity = 0;
kernel(1, 1).intensity = -1;
}
template <typename PointT>
void
kernel<PointT>::sobelKernelY(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(9);
kernel.height = 3;
kernel.width = 3;
kernel(0, 0).intensity = -1;
kernel(1, 0).intensity = -2;
kernel(2, 0).intensity = -1;
kernel(0, 1).intensity = 0;
kernel(1, 1).intensity = 0;
kernel(2, 1).intensity = 0;
kernel(0, 2).intensity = 1;
kernel(1, 2).intensity = 2;
kernel(2, 2).intensity = 1;
}
template <typename PointT>
void
kernel<PointT>::prewittKernelY(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(9);
kernel.height = 3;
kernel.width = 3;
kernel(0, 0).intensity = 1;
kernel(1, 0).intensity = 1;
kernel(2, 0).intensity = 1;
kernel(0, 1).intensity = 0;
kernel(1, 1).intensity = 0;
kernel(2, 1).intensity = 0;
kernel(0, 2).intensity = -1;
kernel(1, 2).intensity = -1;
kernel(2, 2).intensity = -1;
}
template <typename PointT>
void
kernel<PointT>::robertsKernelY(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(4);
kernel.height = 2;
kernel.width = 2;
kernel(0, 0).intensity = 0;
kernel(1, 0).intensity = 1;
kernel(0, 1).intensity = -1;
kernel(1, 1).intensity = 0;
}
template <typename PointT>
void
kernel<PointT>::derivativeXCentralKernel(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(3);
kernel.height = 1;
kernel.width = 3;
kernel(0, 0).intensity = -1;
kernel(1, 0).intensity = 0;
kernel(2, 0).intensity = 1;
}
template <typename PointT>
void
kernel<PointT>::derivativeXForwardKernel(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(3);
kernel.height = 1;
kernel.width = 3;
kernel(0, 0).intensity = 0;
kernel(1, 0).intensity = -1;
kernel(2, 0).intensity = 1;
}
template <typename PointT>
void
kernel<PointT>::derivativeXBackwardKernel(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(3);
kernel.height = 1;
kernel.width = 3;
kernel(0, 0).intensity = -1;
kernel(1, 0).intensity = 1;
kernel(2, 0).intensity = 0;
}
template <typename PointT>
void
kernel<PointT>::derivativeYCentralKernel(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(3);
kernel.height = 3;
kernel.width = 1;
kernel(0, 0).intensity = -1;
kernel(0, 1).intensity = 0;
kernel(0, 2).intensity = 1;
}
template <typename PointT>
void
kernel<PointT>::derivativeYForwardKernel(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(3);
kernel.height = 3;
kernel.width = 1;
kernel(0, 0).intensity = 0;
kernel(0, 1).intensity = -1;
kernel(0, 2).intensity = 1;
}
template <typename PointT>
void
kernel<PointT>::derivativeYBackwardKernel(pcl::PointCloud<PointT>& kernel)
{
kernel.resize(3);
kernel.height = 3;
kernel.width = 1;
kernel(0, 0).intensity = -1;
kernel(0, 1).intensity = 1;
kernel(0, 2).intensity = 0;
}
template <typename PointT>
void
kernel<PointT>::setKernelType(KERNEL_ENUM kernel_type)
{
kernel_type_ = kernel_type;
}
template <typename PointT>
void
kernel<PointT>::setKernelSize(int kernel_size)
{
kernel_size_ = kernel_size;
}
template <typename PointT>
void
kernel<PointT>::setKernelSigma(float kernel_sigma)
{
sigma_ = kernel_sigma;
}
} // namespace pcl
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::kernel
Definition kernel.h:46
pcl::kernel::prewittKernelY
void prewittKernelY(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:216
pcl::kernel::derivativeXBackwardKernel
void derivativeXBackwardKernel(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:271
pcl::kernel::derivativeYBackwardKernel
void derivativeYBackwardKernel(PointCloud< PointT > &kernel)
Definition kernel.hpp:307
pcl::kernel::prewittKernelX
void prewittKernelX(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:167
pcl::kernel::loGKernel
void loGKernel(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:122
pcl::kernel::setKernelSize
void setKernelSize(int kernel_size)
Definition kernel.hpp:326
pcl::kernel::sobelKernelX
void sobelKernelX(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:149
pcl::kernel::setKernelSigma
void setKernelSigma(float kernel_sigma)
Definition kernel.hpp:333
pcl::kernel::derivativeXCentralKernel
void derivativeXCentralKernel(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:247
pcl::kernel::robertsKernelY
void robertsKernelY(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:234
pcl::kernel::KERNEL_ENUM
KERNEL_ENUM
Different types of kernels available.
Definition kernel.h:49
pcl::kernel::setKernelType
void setKernelType(KERNEL_ENUM kernel_type)
Definition kernel.hpp:319
pcl::kernel::gaussianKernel
void gaussianKernel(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:96
pcl::kernel::sobelKernelY
void sobelKernelY(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:198
pcl::kernel::fetchKernel
void fetchKernel(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:46
pcl::kernel::derivativeXForwardKernel
void derivativeXForwardKernel(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:259
pcl::kernel::derivativeYForwardKernel
void derivativeYForwardKernel(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:295
pcl::kernel::robertsKernelX
void robertsKernelX(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:185
pcl::kernel::derivativeYCentralKernel
void derivativeYCentralKernel(pcl::PointCloud< PointT > &kernel)
Definition kernel.hpp:283
pcl
Definition convolution.h:46