Point Cloud Library (PCL)  1.9.1-dev
convolution.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_base.h>
41 #include <pcl/filters/filter.h>
42 #include <pcl/point_types.h>
43 
44 namespace pcl
45 {
46  /**
47  * This typedef is used to represent a point cloud containing edge information
48  */
50  {
51  PCL_ADD_POINT4D; // preferred way of adding a XYZ+padding
52  float magnitude;
53  float direction;
54  float magnitude_x;
55  float magnitude_y;
56  EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
57  } EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment
58 
59  /** \brief A 2D convolution class. */
60  template <typename PointT>
61  class Convolution : public Filter<PointT>
62  {
63  public:
65 
66  /**
67  * Extra pixels are added to the input image so that convolution can be performed over the entire image.
68  *
69  * (kernel_height/2) rows are added before the first row and after the last row
70  * (kernel_width/2) columns are added before the first column and after the last column
71  * border options define what values are set for these extra rows and columns
72  *
73  * Assume that the three rows of right edge of the image looks like this:
74  * .. 3 2 1
75  * .. 6 5 4
76  * .. 9 8 7
77  *
78  * BOUNDARY_OPTION_CLAMP : the extra pixels are set to the pixel value of the boundary pixel
79  * This option makes it seem as if it were:
80  * .. 3 2 1| 1 1 1 ..
81  * .. 6 5 4| 4 4 4 ..
82  * .. 9 8 7| 7 7 7 ..
83  *
84  * BOUNDARY_OPTION_MIRROR : the input image is mirrored at the boundary.
85  * This option makes it seem as if it were:
86  * .. 3 2 1| 1 2 3 ..
87  * .. 6 5 4| 4 5 6 ..
88  * .. 9 8 7| 7 8 9 ..
89  *
90  * BOUNDARY_OPTION_ZERO_PADDING : the extra pixels are simply set to 0
91  * This option makes it seem as if it were:
92  * .. 3 2 1| 0 0 0 ..
93  * .. 6 5 4| 0 0 0 ..
94  * .. 9 8 7| 0 0 0 ..
95  *
96  * Note that the input image is not actually extended in size. Instead, based on these options,
97  * the convolution is performed differently at the border pixels.
98  */
100  {
103  BOUNDARY_OPTION_ZERO_PADDING
104  };
105 
107  {
108  boundary_options_ = BOUNDARY_OPTION_CLAMP;
109  }
110 
111  /** \brief Sets the kernel to be used for convolution
112  * \param[in] kernel convolution kernel passed by reference
113  */
114  inline void
116  {
117  kernel_ = kernel;
118  }
119 
120  /**
121  * \param[in] boundary_options enum indicating the boundary options to be used for convolution
122  */
123  inline void
125  {
126  boundary_options_ = boundary_options;
127  }
128 
129  /** \brief Performs 2D convolution of the input point cloud with the kernel.
130  * Uses clamp as the default boundary option.
131  * \param[out] output Output point cloud passed by reference
132  */
133  void
134  filter (pcl::PointCloud<PointT> &output);
135 
136  protected:
137  /** \brief This is an over-ride function for the pcl::Filter interface. */
138  void
140 
141  private:
142  BOUNDARY_OPTIONS_ENUM boundary_options_;
143  pcl::PointCloud<PointT> kernel_;
144  };
145 }
146 
147 #include <pcl/2d/impl/convolution.hpp>
148 
150  (float, x, x)
151  (float, y, y)
152  (float, z, z)
153  (float, magnitude, magnitude)
154  (float, direction, direction)
155  (float, magnitude_x, magnitude_x)
156  (float, magnitude_y, magnitude_y)
157 )
void applyFilter(pcl::PointCloud< PointT > &) override
This is an over-ride function for the pcl::Filter interface.
Definition: convolution.h:139
struct pcl::PointXYZIEdge EIGEN_ALIGN16
A 2D convolution class.
Definition: convolution.h:61
This typedef is used to represent a point cloud containing edge information.
Definition: convolution.h:49
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
void setBoundaryOptions(BOUNDARY_OPTIONS_ENUM boundary_options)
Definition: convolution.h:124
Filter represents the base filter class.
Definition: filter.h:83
BOUNDARY_OPTIONS_ENUM
Extra pixels are added to the input image so that convolution can be performed over the entire image...
Definition: convolution.h:99
POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::_PointXYZLAB,(float, x, x)(float, y, y)(float, z, z)(float, L, L)(float, a, a)(float, b, b)) namespace pcl
Definition: gicp6d.h:77
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setKernel(const pcl::PointCloud< PointT > &kernel)
Sets the kernel to be used for convolution.
Definition: convolution.h:115