#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_ {3}
float	sigma_ {1.0}
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.

References GAUSSIAN, and kernel_type_.

Referenced by derivativeXBackwardKernel(), derivativeXCentralKernel(), derivativeXForwardKernel(), derivativeYBackwardKernel(), derivativeYCentralKernel(), derivativeYForwardKernel(), fetchKernel(), gaussianKernel(), loGKernel(), prewittKernelX(), prewittKernelY(), robertsKernelX(), robertsKernelY(), sobelKernelX(), and sobelKernelY().

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 271 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

◆ 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 247 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

◆ 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 259 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

◆ 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 307 of file kernel.hpp.

References kernel().

◆ 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 283 of file kernel.hpp.

References kernel().

◆ 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 295 of file kernel.hpp.

References kernel().

◆ 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.

References DERIVATIVE_BACKWARD_X, DERIVATIVE_CENTRAL_X, DERIVATIVE_FORWARD_X, derivativeXBackwardKernel(), derivativeXCentralKernel(), derivativeXForwardKernel(), kernel(), kernel_type_, LOG, loGKernel(), PREWITT_X, PREWITT_Y, prewittKernelX(), prewittKernelY(), ROBERTS_X, ROBERTS_Y, robertsKernelX(), robertsKernelY(), SOBEL_X, SOBEL_Y, sobelKernelX(), and sobelKernelY().

◆ 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.

References kernel().

Referenced by pcl::Keypoint< ImageType >::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.

References kernel().

Referenced by fetchKernel().

◆ 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 167 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

◆ 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 216 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

◆ 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 185 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

◆ 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 234 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

◆ 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 333 of file kernel.hpp.

References sigma_.

◆ 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 326 of file kernel.hpp.

References kernel_size_.

◆ 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 319 of file kernel.hpp.

References kernel_type_.

◆ 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 149 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

◆ 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 198 of file kernel.hpp.

References kernel().

Referenced by fetchKernel().

Member Data Documentation

◆ kernel_size_

template<typename PointT>

int pcl::kernel< PointT >::kernel_size_ {3}

Definition at line 66 of file kernel.h.

Referenced by setKernelSize().

◆ kernel_type_

template<typename PointT>

KERNEL_ENUM pcl::kernel< PointT >::kernel_type_

Definition at line 68 of file kernel.h.

Referenced by fetchKernel(), kernel(), and setKernelType().

◆ sigma_

template<typename PointT>

float pcl::kernel< PointT >::sigma_ {1.0}

Definition at line 67 of file kernel.h.

Referenced by setKernelSigma().

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

pcl/2d/kernel.h
pcl/2d/impl/kernel.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ KERNEL_ENUM

Constructor & Destructor Documentation

◆ kernel()

Member Function Documentation

◆ derivativeXBackwardKernel()

◆ derivativeXCentralKernel()

◆ derivativeXForwardKernel()

◆ derivativeYBackwardKernel()

◆ derivativeYCentralKernel()

◆ derivativeYForwardKernel()

◆ fetchKernel()

◆ gaussianKernel()

◆ loGKernel()

◆ prewittKernelX()

◆ prewittKernelY()

◆ robertsKernelX()

◆ robertsKernelY()

◆ setKernelSigma()

◆ setKernelSize()

◆ setKernelType()

◆ sobelKernelX()

◆ sobelKernelY()

Member Data Documentation

◆ kernel_size_

◆ kernel_type_

◆ sigma_