Point Cloud Library (PCL)  1.9.1-dev
convolution.h
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37 
38 #pragma once
39 
40 #include <pcl/filters/filter.h>
41 #include <pcl/pcl_base.h>
42 #include <pcl/pcl_macros.h>
43 #include <pcl/point_types.h>
44 
45 namespace pcl {
46 
47 /// Point cloud containing edge information.
48 struct EIGEN_ALIGN16 PointXYZIEdge {
49  PCL_ADD_POINT4D; // preferred way of adding a XYZ+padding
50  float magnitude;
51  float direction;
52  float magnitude_x;
53  float magnitude_y;
54  PCL_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
55 }; // enforce SSE padding for correct memory alignment
56 
57 /// A 2D convolution class.
58 template <typename PointT>
59 class Convolution : public Filter<PointT> {
60 public:
62 
63  /**
64  * Extra pixels are added to the input image so that convolution can be performed over
65  * the entire image.
66  *
67  * (kernel_height/2) rows are added before the first row and after the last row
68  * (kernel_width/2) columns are added before the first column and after the last
69  * column border options define what values are set for these extra rows and columns
70  *
71  * Assume that the three rows of right edge of the image looks like this:
72  * .. 3 2 1
73  * .. 6 5 4
74  * .. 9 8 7
75  *
76  * BOUNDARY_OPTION_CLAMP : the extra pixels are set to the pixel value of the boundary
77  * pixel. This option makes it seem as if it were:
78  * .. 3 2 1| 1 1 1 ..
79  * .. 6 5 4| 4 4 4 ..
80  * .. 9 8 7| 7 7 7 ..
81  *
82  * BOUNDARY_OPTION_MIRROR : the input image is mirrored at the boundary. This option
83  * makes it seem as if it were:
84  * .. 3 2 1| 1 2 3 ..
85  * .. 6 5 4| 4 5 6 ..
86  * .. 9 8 7| 7 8 9 ..
87  *
88  * BOUNDARY_OPTION_ZERO_PADDING : the extra pixels are simply set to 0. This option
89  * makes it seem as if it were:
90  * .. 3 2 1| 0 0 0 ..
91  * .. 6 5 4| 0 0 0 ..
92  * .. 9 8 7| 0 0 0 ..
93  *
94  * Note that the input image is not actually extended in size. Instead, based on these
95  * options, the convolution is performed differently at the border pixels.
96  */
100  BOUNDARY_OPTION_ZERO_PADDING
101  };
102 
103  Convolution() { boundary_options_ = BOUNDARY_OPTION_CLAMP; }
104 
105  /** \brief Sets the kernel to be used for convolution
106  * \param[in] kernel convolution kernel passed by reference
107  */
108  inline void
110  {
111  kernel_ = kernel;
112  }
113 
114  /**
115  * \param[in] boundary_options enum indicating the boundary options to be used for
116  * convolution
117  */
118  inline void
120  {
121  boundary_options_ = boundary_options;
122  }
123 
124  /** \brief Performs 2D convolution of the input point cloud with the kernel.
125  * Uses clamp as the default boundary option.
126  * \param[out] output Output point cloud passed by reference
127  */
128  void
129  filter(pcl::PointCloud<PointT>& output);
130 
131 protected:
132  /** \brief This is an over-ride function for the pcl::Filter interface. */
133  void
135  {}
136 
137 private:
138  BOUNDARY_OPTIONS_ENUM boundary_options_;
139  pcl::PointCloud<PointT> kernel_;
140 };
141 } // namespace pcl
142 
143 #include <pcl/2d/impl/convolution.hpp>
144 
146  (float, x, x) //
147  (float, y, y) //
148  (float, z, z) //
149  (float, magnitude, magnitude) //
150  (float, direction, direction) //
151  (float, magnitude_x, magnitude_x) //
152  (float, magnitude_y, magnitude_y)) //
void applyFilter(pcl::PointCloud< PointT > &) override
This is an over-ride function for the pcl::Filter interface.
Definition: convolution.h:134
A 2D convolution class.
Definition: convolution.h:59
Point cloud containing edge information.
Definition: convolution.h:48
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void setBoundaryOptions(BOUNDARY_OPTIONS_ENUM boundary_options)
Definition: convolution.h:119
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:344
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:97
Defines all the PCL implemented PointT point type structures.
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:78
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:109
Defines all the PCL and non-PCL macros used.