338 lines
8.3 KiB
C++
338 lines
8.3 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/2d/kernel.h>
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namespace pcl {
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template <typename PointT>
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void
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kernel<PointT>::fetchKernel(pcl::PointCloud<PointT>& kernel)
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{
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switch (kernel_type_) {
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case SOBEL_X:
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sobelKernelX(kernel);
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break;
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case SOBEL_Y:
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sobelKernelY(kernel);
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break;
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case PREWITT_X:
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prewittKernelX(kernel);
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break;
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case PREWITT_Y:
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prewittKernelY(kernel);
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break;
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case ROBERTS_X:
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robertsKernelX(kernel);
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break;
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case ROBERTS_Y:
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robertsKernelY(kernel);
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break;
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case LOG:
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loGKernel(kernel);
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break;
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case DERIVATIVE_CENTRAL_X:
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derivativeXCentralKernel(kernel);
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break;
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case DERIVATIVE_FORWARD_X:
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derivativeXForwardKernel(kernel);
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break;
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case DERIVATIVE_BACKWARD_X:
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derivativeXBackwardKernel(kernel);
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break;
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case DERIVATIVE_CENTRAL_Y:
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derivativeYCentralKernel(kernel);
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break;
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case DERIVATIVE_FORWARD_Y:
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derivativeYForwardKernel(kernel);
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break;
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case DERIVATIVE_BACKWARD_Y:
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derivativeYBackwardKernel(kernel);
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break;
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case GAUSSIAN:
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gaussianKernel(kernel);
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break;
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}
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}
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template <typename PointT>
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void
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kernel<PointT>::gaussianKernel(pcl::PointCloud<PointT>& kernel)
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{
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float sum = 0;
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kernel.resize(kernel_size_ * kernel_size_);
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kernel.height = kernel_size_;
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kernel.width = kernel_size_;
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double sigma_sqr = 2 * sigma_ * sigma_;
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for (int i = 0; i < kernel_size_; i++) {
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for (int j = 0; j < kernel_size_; j++) {
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int iks = (i - kernel_size_ / 2);
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int jks = (j - kernel_size_ / 2);
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kernel(j, i).intensity =
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std::exp(float(-double(iks * iks + jks * jks) / sigma_sqr));
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sum += float(kernel(j, i).intensity);
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}
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}
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// Normalizing the kernel
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for (std::size_t i = 0; i < kernel.size(); ++i)
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kernel[i].intensity /= sum;
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}
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template <typename PointT>
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void
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kernel<PointT>::loGKernel(pcl::PointCloud<PointT>& kernel)
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{
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float sum = 0;
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kernel.resize(kernel_size_ * kernel_size_);
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kernel.height = kernel_size_;
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kernel.width = kernel_size_;
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double sigma_sqr = 2 * sigma_ * sigma_;
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for (int i = 0; i < kernel_size_; i++) {
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for (int j = 0; j < kernel_size_; j++) {
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int iks = (i - kernel_size_ / 2);
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int jks = (j - kernel_size_ / 2);
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float temp = float(double(iks * iks + jks * jks) / sigma_sqr);
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kernel(j, i).intensity = (1.0f - temp) * std::exp(-temp);
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sum += kernel(j, i).intensity;
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}
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}
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// Normalizing the kernel
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for (std::size_t i = 0; i < kernel.size(); ++i)
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kernel[i].intensity /= sum;
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}
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template <typename PointT>
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void
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kernel<PointT>::sobelKernelX(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(9);
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kernel.height = 3;
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kernel.width = 3;
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kernel(0, 0).intensity = -1;
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kernel(1, 0).intensity = 0;
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kernel(2, 0).intensity = 1;
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kernel(0, 1).intensity = -2;
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kernel(1, 1).intensity = 0;
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kernel(2, 1).intensity = 2;
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kernel(0, 2).intensity = -1;
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kernel(1, 2).intensity = 0;
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kernel(2, 2).intensity = 1;
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}
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template <typename PointT>
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void
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kernel<PointT>::prewittKernelX(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(9);
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kernel.height = 3;
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kernel.width = 3;
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kernel(0, 0).intensity = -1;
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kernel(1, 0).intensity = 0;
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kernel(2, 0).intensity = 1;
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kernel(0, 1).intensity = -1;
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kernel(1, 1).intensity = 0;
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kernel(2, 1).intensity = 1;
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kernel(0, 2).intensity = -1;
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kernel(1, 2).intensity = 0;
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kernel(2, 2).intensity = 1;
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}
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template <typename PointT>
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void
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kernel<PointT>::robertsKernelX(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(4);
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kernel.height = 2;
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kernel.width = 2;
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kernel(0, 0).intensity = 1;
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kernel(1, 0).intensity = 0;
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kernel(0, 1).intensity = 0;
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kernel(1, 1).intensity = -1;
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}
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template <typename PointT>
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void
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kernel<PointT>::sobelKernelY(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(9);
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kernel.height = 3;
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kernel.width = 3;
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kernel(0, 0).intensity = -1;
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kernel(1, 0).intensity = -2;
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kernel(2, 0).intensity = -1;
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kernel(0, 1).intensity = 0;
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kernel(1, 1).intensity = 0;
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kernel(2, 1).intensity = 0;
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kernel(0, 2).intensity = 1;
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kernel(1, 2).intensity = 2;
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kernel(2, 2).intensity = 1;
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}
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template <typename PointT>
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void
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kernel<PointT>::prewittKernelY(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(9);
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kernel.height = 3;
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kernel.width = 3;
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kernel(0, 0).intensity = 1;
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kernel(1, 0).intensity = 1;
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kernel(2, 0).intensity = 1;
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kernel(0, 1).intensity = 0;
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kernel(1, 1).intensity = 0;
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kernel(2, 1).intensity = 0;
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kernel(0, 2).intensity = -1;
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kernel(1, 2).intensity = -1;
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kernel(2, 2).intensity = -1;
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}
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template <typename PointT>
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void
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kernel<PointT>::robertsKernelY(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(4);
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kernel.height = 2;
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kernel.width = 2;
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kernel(0, 0).intensity = 0;
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kernel(1, 0).intensity = 1;
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kernel(0, 1).intensity = -1;
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kernel(1, 1).intensity = 0;
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}
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template <typename PointT>
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void
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kernel<PointT>::derivativeXCentralKernel(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(3);
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kernel.height = 1;
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kernel.width = 3;
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kernel(0, 0).intensity = -1;
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kernel(1, 0).intensity = 0;
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kernel(2, 0).intensity = 1;
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}
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template <typename PointT>
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void
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kernel<PointT>::derivativeXForwardKernel(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(3);
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kernel.height = 1;
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kernel.width = 3;
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kernel(0, 0).intensity = 0;
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kernel(1, 0).intensity = -1;
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kernel(2, 0).intensity = 1;
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}
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template <typename PointT>
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void
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kernel<PointT>::derivativeXBackwardKernel(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(3);
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kernel.height = 1;
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kernel.width = 3;
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kernel(0, 0).intensity = -1;
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kernel(1, 0).intensity = 1;
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kernel(2, 0).intensity = 0;
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}
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template <typename PointT>
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void
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kernel<PointT>::derivativeYCentralKernel(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(3);
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kernel.height = 3;
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kernel.width = 1;
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kernel(0, 0).intensity = -1;
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kernel(0, 1).intensity = 0;
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kernel(0, 2).intensity = 1;
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}
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template <typename PointT>
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void
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kernel<PointT>::derivativeYForwardKernel(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(3);
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kernel.height = 3;
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kernel.width = 1;
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kernel(0, 0).intensity = 0;
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kernel(0, 1).intensity = -1;
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kernel(0, 2).intensity = 1;
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}
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template <typename PointT>
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void
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kernel<PointT>::derivativeYBackwardKernel(pcl::PointCloud<PointT>& kernel)
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{
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kernel.resize(3);
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kernel.height = 3;
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kernel.width = 1;
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kernel(0, 0).intensity = -1;
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kernel(0, 1).intensity = 1;
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kernel(0, 2).intensity = 0;
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}
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template <typename PointT>
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void
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kernel<PointT>::setKernelType(KERNEL_ENUM kernel_type)
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{
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kernel_type_ = kernel_type;
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}
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template <typename PointT>
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void
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kernel<PointT>::setKernelSize(int kernel_size)
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{
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kernel_size_ = kernel_size;
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}
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template <typename PointT>
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void
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kernel<PointT>::setKernelSigma(float kernel_sigma)
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{
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sigma_ = kernel_sigma;
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}
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} // namespace pcl
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