代码拉取完成，页面将自动刷新
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.17"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Point Cloud Library (PCL): pcl/2d/impl/keypoint.hpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">Point Cloud Library (PCL)
 <span id="projectnumber">1.11.1-dev</span>
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.17 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_dc3f0030e0556afaf85f681a40c5d7a9.html">pcl</a></li><li class="navelem"><a class="el" href="dir_98856f8f1b5d0586371528df3d9d1844.html">2d</a></li><li class="navelem"><a class="el" href="dir_dd15867593b1a92250a8fc0a7f96d370.html">impl</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">keypoint.hpp</div> </div>
</div><!--header-->
<div class="contents">
<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.hpp</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/convolution.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <pcl/2d/edge.h></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <pcl/2d/keypoint.h></span> <span class="comment">// for pcl::Keypoint</span></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="preprocessor">#include <limits></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a> {</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">template</span> <<span class="keyword">typename</span> ImageType></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#ac3192deeb5d74d647768b472ec44baa6"> 54</a></span> <a class="code" href="classpcl_1_1_keypoint.html#ac3192deeb5d74d647768b472ec44baa6">Keypoint<ImageType>::harrisCorner</a>(ImageType& output,</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  ImageType& input,</div>
<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>
<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>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> alpha,</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> thresh)</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">/*creating the gaussian kernels*/</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  ImageType kernel_d;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  ImageType kernel_i;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  conv_2d.gaussianKernel(5, sigma_d, kernel_d);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  conv_2d.gaussianKernel(5, sigma_i, kernel_i);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">/*scaling the image with differentiation scale*/</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  ImageType smoothed_image;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  conv_2d.convolve(smoothed_image, kernel_d, input);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">/*image derivatives*/</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  ImageType I_x, I_y;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  edge_detection.ComputeDerivativeXCentral(I_x, smoothed_image);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  edge_detection.ComputeDerivativeYCentral(I_y, smoothed_image);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">/*second moment matrix*/</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  ImageType I_x2, I_y2, I_xI_y;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  imageElementMultiply(I_x2, I_x, I_x);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  imageElementMultiply(I_y2, I_y, I_y);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  imageElementMultiply(I_xI_y, I_x, I_y);</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">/*scaling second moment matrix with integration scale*/</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  ImageType M00, M10, M11;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  conv_2d.convolve(M00, kernel_i, I_x2);</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  conv_2d.convolve(M10, kernel_i, I_xI_y);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  conv_2d.convolve(M11, kernel_i, I_y2);</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="comment">/*harris function*/</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">const</span> std::size_t height = input.size();</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">const</span> std::size_t width = input[0].size();</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  output.resize(height);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < height; i++) {</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  output[i].resize(width);</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < width; j++) {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  output[i][j] = M00[i][j] * M11[i][j] - (M10[i][j] * M10[i][j]) -</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  alpha * ((M00[i][j] + M11[i][j]) * (M00[i][j] + M11[i][j]));</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">if</span> (thresh != 0) {</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">if</span> (output[i][j] < thresh)</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  output[i][j] = 0;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  output[i][j] = 255;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  }</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">/*local maxima*/</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">for</span> (std::size_t i = 1; i < height - 1; i++) {</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">for</span> (std::size_t j = 1; j < width - 1; j++) {</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">if</span> (output[i][j] > output[i - 1][j - 1] && output[i][j] > output[i - 1][j] &&</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  output[i][j] > output[i - 1][j + 1] && output[i][j] > output[i][j - 1] &&</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  output[i][j] > output[i][j + 1] && output[i][j] > output[i + 1][j - 1] &&</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  output[i][j] > output[i + 1][j] && output[i][j] > output[i + 1][j + 1])</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  ;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  output[i][j] = 0;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> }</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">template</span> <<span class="keyword">typename</span> ImageType></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#aa75a9bc1a92a269bd02d702314cf84ad"> 122</a></span> <a class="code" href="classpcl_1_1_keypoint.html#aa75a9bc1a92a269bd02d702314cf84ad">Keypoint<ImageType>::hessianBlob</a>(ImageType& output,</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  ImageType& input,</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> sigma,</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">bool</span> SCALED)</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> {</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="comment">/*creating the gaussian kernels*/</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  ImageType <a class="code" href="classpcl_1_1kernel.html">kernel</a>, cornerness;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  conv_2d.<a class="code" href="classpcl_1_1kernel.html#a95dd85f601f5c9eecb320f207da09af0">gaussianKernel</a>(5, sigma, <a class="code" href="classpcl_1_1kernel.html">kernel</a>);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="comment">/*scaling the image with differentiation scale*/</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  ImageType smoothed_image;</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  conv_2d.convolve(smoothed_image, <a class="code" href="classpcl_1_1kernel.html">kernel</a>, input);</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="comment">/*image derivatives*/</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  ImageType I_x, I_y;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  edge_detection.ComputeDerivativeXCentral(I_x, smoothed_image);</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  edge_detection.ComputeDerivativeYCentral(I_y, smoothed_image);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="comment">/*second moment matrix*/</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  ImageType I_xx, I_yy, I_xy;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  edge_detection.ComputeDerivativeXCentral(I_xx, I_x);</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  edge_detection.ComputeDerivativeYCentral(I_xy, I_x);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  edge_detection.ComputeDerivativeYCentral(I_yy, I_y);</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">/*Determinant of Hessian*/</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keyword">const</span> std::size_t height = input.size();</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keyword">const</span> std::size_t width = input[0].size();</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordtype">float</span> min = std::numeric_limits<float>::max();</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordtype">float</span> max = std::numeric_limits<float>::min();</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  cornerness.resize(height);</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < height; i++) {</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  cornerness[i].resize(width);</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < width; j++) {</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  cornerness[i][j] =</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  sigma * sigma * (I_xx[i][j] + I_yy[i][j] - I_xy[i][j] * I_xy[i][j]);</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keywordflow">if</span> (SCALED) {</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">if</span> (cornerness[i][j] < min)</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  min = cornerness[i][j];</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">if</span> (cornerness[i][j] > max)</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  max = cornerness[i][j];</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  }</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  }</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  </div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="comment">/*local maxima*/</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  output.resize(height);</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  output[0].resize(width);</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  output[height - 1].resize(width);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">for</span> (std::size_t i = 1; i < height - 1; i++) {</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  output[i].resize(width);</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">for</span> (std::size_t j = 1; j < width - 1; j++) {</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">if</span> (SCALED)</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  output[i][j] = ((cornerness[i][j] - min) / (max - min));</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  output[i][j] = cornerness[i][j];</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  }</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  }</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="keyword">template</span> <<span class="keyword">typename</span> ImageType></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a01397730ac2f3fc03286ba676ca3b5e4"> 182</a></span> <a class="code" href="classpcl_1_1_keypoint.html#aa75a9bc1a92a269bd02d702314cf84ad">Keypoint<ImageType>::hessianBlob</a>(ImageType& output,</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  ImageType& input,</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> start_scale,</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> scaling_factor,</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> num_scales)</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> {</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keyword">const</span> std::size_t height = input.size();</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keyword">const</span> std::size_t width = input[0].size();</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> local_search_radius = 1;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordtype">float</span> scale = start_scale;</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  std::vector<ImageType> cornerness;</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  cornerness.resize(num_scales);</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < num_scales; i++) {</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  hessianBlob(cornerness[i], input, scale, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  scale *= scaling_factor;</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  }</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < height; i++) {</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < width; j++) {</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordtype">float</span> scale_max = std::numeric_limits<float>::min();</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="comment">/*default output in case of no blob at the current point is 0*/</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  output[i][j] = 0;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 0; k < num_scales; k++) {</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="comment">/*check if the current point (k,i,j) is a maximum in the defined search radius*/</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordtype">bool</span> non_max_flag = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> local_max = cornerness[k][i][j];</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> n = -local_search_radius; n <= local_search_radius; n++) {</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">if</span> (n + k < 0 || n + k >= num_scales)</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> l = -local_search_radius; l <= local_search_radius; l++) {</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">if</span> (l + i < 0 || l + i >= height)</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> m = -local_search_radius; m <= local_search_radius; m++) {</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordflow">if</span> (m + j < 0 || m + j >= width)</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordflow">if</span> (cornerness[n + k][l + i][m + j] > local_max) {</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  non_max_flag = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  }</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  }</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">if</span> (non_max_flag)</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  }</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">if</span> (non_max_flag)</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  }</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="comment">/*if the current point is a point of local maximum, check if it is a maximum</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="comment"> * point across scales*/</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">if</span> (!non_max_flag) {</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">if</span> (cornerness[k][i][j] > scale_max) {</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  scale_max = cornerness[k][i][j];</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="comment">/*output indicates the scale at which the blob is found at the current</span></div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="comment"> * location in the image*/</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  output[i][j] = start_scale * pow(scaling_factor, k);</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  }</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  }</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  }</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  }</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  }</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> }</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="keyword">template</span> <<span class="keyword">typename</span> ImageType></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1_keypoint.html#a5d0f6762964c3be793623ab491aff190"> 244</a></span> <a class="code" href="classpcl_1_1_keypoint.html#a5d0f6762964c3be793623ab491aff190">Keypoint<ImageType>::imageElementMultiply</a>(ImageType& output,</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  ImageType& input1,</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  ImageType& input2)</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> {</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keyword">const</span> std::size_t height = input1.size();</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keyword">const</span> std::size_t width = input1[0].size();</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  output.resize(height);</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < height; i++) {</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  output[i].resize(width);</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < width; j++) {</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  output[i][j] = input1[i][j] * input2[i][j];</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  }</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  }</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> }</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> } <span class="comment">// namespace pcl</span></div>
</div><!-- fragment --></div><!-- contents -->
<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>
<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_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>
<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="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>
<hr>
<div id="footer">
<p>
Except where otherwise noted, the PointClouds.org web pages are licensed under <a href="http://creativecommons.org/licenses/by/3.0/">Creative Commons Attribution 3.0</a>.
</p>
<p>Pages generated on Sun Dec 20 2020 13:18:11</p>
</div> <!-- #footer -->
</body>
</html>
此处可能存在不合适展示的内容，页面不予展示。您可通过相关编辑功能自查并修改。
如您确认内容无涉及 不当用语 / 纯广告导流 / 暴力 / 低俗色情 / 侵权 / 盗版 / 虚假 / 无价值内容或违法国家有关法律法规的内容，可点击提交进行申诉，我们将尽快为您处理。
马建仓 AI 助手