Point Cloud Library (PCL)  1.11.0-dev
convolution.h
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37 
38 #pragma once
39 
40 #include <pcl/filters/filter.h>
41 #include <pcl/memory.h>
42 #include <pcl/pcl_base.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/point_types.h>
45 
46 namespace pcl {
47 
48 /// Point cloud containing edge information.
49 struct EIGEN_ALIGN16 PointXYZIEdge {
50  PCL_ADD_POINT4D; // preferred way of adding a XYZ+padding
51  float magnitude;
52  float direction;
53  float magnitude_x;
54  float magnitude_y;
55  PCL_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
56 }; // enforce SSE padding for correct memory alignment
57 
58 /// A 2D convolution class.
59 template <typename PointT>
60 class Convolution : public Filter<PointT> {
61 public:
63 
64  /**
65  * Extra pixels are added to the input image so that convolution can be performed over
66  * the entire image.
67  *
68  * (kernel_height/2) rows are added before the first row and after the last row
69  * (kernel_width/2) columns are added before the first column and after the last
70  * column border options define what values are set for these extra rows and columns
71  *
72  * Assume that the three rows of right edge of the image looks like this:
73  * .. 3 2 1
74  * .. 6 5 4
75  * .. 9 8 7
76  *
77  * BOUNDARY_OPTION_CLAMP : the extra pixels are set to the pixel value of the boundary
78  * pixel. This option makes it seem as if it were:
79  * .. 3 2 1| 1 1 1 ..
80  * .. 6 5 4| 4 4 4 ..
81  * .. 9 8 7| 7 7 7 ..
82  *
83  * BOUNDARY_OPTION_MIRROR : the input image is mirrored at the boundary. This option
84  * makes it seem as if it were:
85  * .. 3 2 1| 1 2 3 ..
86  * .. 6 5 4| 4 5 6 ..
87  * .. 9 8 7| 7 8 9 ..
88  *
89  * BOUNDARY_OPTION_ZERO_PADDING : the extra pixels are simply set to 0. This option
90  * makes it seem as if it were:
91  * .. 3 2 1| 0 0 0 ..
92  * .. 6 5 4| 0 0 0 ..
93  * .. 9 8 7| 0 0 0 ..
94  *
95  * Note that the input image is not actually extended in size. Instead, based on these
96  * options, the convolution is performed differently at the border pixels.
97  */
102  };
103 
104  Convolution() { boundary_options_ = BOUNDARY_OPTION_CLAMP; }
105 
106  /** \brief Sets the kernel to be used for convolution
107  * \param[in] kernel convolution kernel passed by reference
108  */
109  inline void
111  {
112  kernel_ = kernel;
113  }
114 
115  /**
116  * \param[in] boundary_options enum indicating the boundary options to be used for
117  * convolution
118  */
119  inline void
121  {
122  boundary_options_ = boundary_options;
123  }
124 
125  /** \brief Performs 2D convolution of the input point cloud with the kernel.
126  * Uses clamp as the default boundary option.
127  * \param[out] output Output point cloud passed by reference
128  */
129  void
131 
132 protected:
133  /** \brief This is an over-ride function for the pcl::Filter interface. */
134  void
136  {}
137 
138 private:
139  BOUNDARY_OPTIONS_ENUM boundary_options_;
140  pcl::PointCloud<PointT> kernel_;
141 };
142 } // namespace pcl
143 
144 #include <pcl/2d/impl/convolution.hpp>
145 
147  (float, x, x) //
148  (float, y, y) //
149  (float, z, z) //
150  (float, magnitude, magnitude) //
151  (float, direction, direction) //
152  (float, magnitude_x, magnitude_x) //
153  (float, magnitude_y, magnitude_y)) //
pcl::Convolution::Convolution
Convolution()
Definition: convolution.h:104
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
point_types.h
pcl::PointXYZIEdge::magnitude_x
float magnitude_x
Definition: convolution.h:53
pcl::Convolution::BOUNDARY_OPTION_MIRROR
@ BOUNDARY_OPTION_MIRROR
Definition: convolution.h:100
pcl::PointXYZIEdge
Point cloud containing edge information.
Definition: convolution.h:49
POINT_CLOUD_REGISTER_POINT_STRUCT
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:79
pcl::Convolution::setKernel
void setKernel(const pcl::PointCloud< PointT > &kernel)
Sets the kernel to be used for convolution.
Definition: convolution.h:110
pcl::PointXYZIEdge::magnitude
float magnitude
Definition: convolution.h:51
pcl::PointXYZIEdge::magnitude_y
float magnitude_y
Definition: convolution.h:54
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
pcl::Convolution
A 2D convolution class.
Definition: convolution.h:60
pcl::Convolution::BOUNDARY_OPTIONS_ENUM
BOUNDARY_OPTIONS_ENUM
Extra pixels are added to the input image so that convolution can be performed over the entire image.
Definition: convolution.h:98
pcl::Convolution::filter
void filter(pcl::PointCloud< PointT > &output)
Performs 2D convolution of the input point cloud with the kernel.
Definition: convolution.hpp:46
pcl::Filter
Filter represents the base filter class.
Definition: filter.h:83
pcl::Convolution::setBoundaryOptions
void setBoundaryOptions(BOUNDARY_OPTIONS_ENUM boundary_options)
Definition: convolution.h:120
pcl::Convolution::BOUNDARY_OPTION_CLAMP
@ BOUNDARY_OPTION_CLAMP
Definition: convolution.h:99
pcl::PointXYZIEdge::PCL_ADD_POINT4D
PCL_ADD_POINT4D
Definition: convolution.h:50
pcl::Convolution::BOUNDARY_OPTION_ZERO_PADDING
@ BOUNDARY_OPTION_ZERO_PADDING
Definition: convolution.h:101
pcl::Convolution::applyFilter
void applyFilter(pcl::PointCloud< PointT > &) override
This is an over-ride function for the pcl::Filter interface.
Definition: convolution.h:135
pcl::kernel
Definition: kernel.h:46
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::PointXYZIEdge::direction
float direction
Definition: convolution.h:52