kernel.hpp

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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