A 2D convolution class. More...

#include <pcl/2d/convolution.h>

Inheritance diagram for pcl::Convolution< PointT >:

Collaboration diagram for pcl::Convolution< PointT >:

Public Types
enum	BOUNDARY_OPTIONS_ENUM { BOUNDARY_OPTION_CLAMP , BOUNDARY_OPTION_MIRROR , BOUNDARY_OPTION_ZERO_PADDING }
	Extra pixels are added to the input image so that convolution can be performed over the entire image. More...

Public Types inherited from pcl::Filter< PointT >
using	Ptr = shared_ptr< Filter< PointT > >

using	ConstPtr = shared_ptr< const Filter< PointT > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	Convolution ()

void	setKernel (const pcl::PointCloud< PointT > &kernel)
	Sets the kernel to be used for convolution. More...

void	setBoundaryOptions (BOUNDARY_OPTIONS_ENUM boundary_options)

void	filter (pcl::PointCloud< PointT > &output)
	Performs 2D convolution of the input point cloud with the kernel. More...

Public Member Functions inherited from pcl::Filter< PointT >
	Filter (bool extract_removed_indices=false)
	Empty constructor. More...

IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed. More...

void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed. More...

void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output. More...

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	applyFilter (pcl::PointCloud< PointT > &) override
	This is an over-ride function for the pcl::Filter interface. More...

Protected Member Functions inherited from pcl::Filter< PointT >
virtual void	applyFilter (PointCloud &output)=0
	Abstract filter method. More...

const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Additional Inherited Members
Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr	removed_indices_
	Indices of the points that are removed. More...

std::string	filter_name_
	The filter name. More...

bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points. More...

Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointT>
class pcl::Convolution< PointT >

A 2D convolution class.

Definition at line 60 of file convolution.h.

Member Enumeration Documentation

◆ BOUNDARY_OPTIONS_ENUM

template<typename PointT >

enum pcl::Convolution::BOUNDARY_OPTIONS_ENUM

Extra pixels are added to the input image so that convolution can be performed over the entire image.

(kernel_height/2) rows are added before the first row and after the last row (kernel_width/2) columns are added before the first column and after the last column border options define what values are set for these extra rows and columns

Assume that the three rows of right edge of the image looks like this: .. 3 2 1 .. 6 5 4 .. 9 8 7

BOUNDARY_OPTION_CLAMP : the extra pixels are set to the pixel value of the boundary pixel. This option makes it seem as if it were: .. 3 2 1| 1 1 1 .. .. 6 5 4| 4 4 4 .. .. 9 8 7| 7 7 7 ..

BOUNDARY_OPTION_MIRROR : the input image is mirrored at the boundary. This option makes it seem as if it were: .. 3 2 1| 1 2 3 .. .. 6 5 4| 4 5 6 .. .. 9 8 7| 7 8 9 ..

BOUNDARY_OPTION_ZERO_PADDING : the extra pixels are simply set to 0. This option makes it seem as if it were: .. 3 2 1| 0 0 0 .. .. 6 5 4| 0 0 0 .. .. 9 8 7| 0 0 0 ..

Note that the input image is not actually extended in size. Instead, based on these options, the convolution is performed differently at the border pixels.

Enumerator
BOUNDARY_OPTION_CLAMP
BOUNDARY_OPTION_MIRROR
BOUNDARY_OPTION_ZERO_PADDING

Definition at line 98 of file convolution.h.

Constructor & Destructor Documentation

◆ Convolution()

template<typename PointT >

pcl::Convolution< PointT >::Convolution ( )

inline

Definition at line 104 of file convolution.h.

References pcl::Convolution< PointT >::BOUNDARY_OPTION_CLAMP.

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::Convolution< PointT >::applyFilter ( pcl::PointCloud< PointT > & )

inlineoverrideprotected

This is an over-ride function for the pcl::Filter interface.

Definition at line 135 of file convolution.h.

◆ filter()

template<typename PointT >

void pcl::Convolution< PointT >::filter ( pcl::PointCloud< PointT > & output )

Performs 2D convolution of the input point cloud with the kernel.

Uses clamp as the default boundary option.

Parameters

[out] output Output point cloud passed by reference

Definition at line 46 of file convolution.hpp.

◆ setBoundaryOptions()

template<typename PointT >

void pcl::Convolution< PointT >::setBoundaryOptions ( BOUNDARY_OPTIONS_ENUM boundary_options )

inline

Parameters

[in] boundary_options enum indicating the boundary options to be used for convolution

Definition at line 120 of file convolution.h.

◆ setKernel()

template<typename PointT >

void pcl::Convolution< PointT >::setKernel ( const pcl::PointCloud< PointT > & kernel )

inline

Sets the kernel to be used for convolution.

Parameters

[in] kernel convolution kernel passed by reference

Definition at line 110 of file convolution.h.

The documentation for this class was generated from the following files:

pcl/2d/convolution.h
pcl/2d/impl/convolution.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT> class pcl::Convolution< PointT >

Member Enumeration Documentation

◆ BOUNDARY_OPTIONS_ENUM

Constructor & Destructor Documentation

◆ Convolution()

Member Function Documentation

◆ applyFilter()

◆ filter()

◆ setBoundaryOptions()

◆ setKernel()

template<typename PointT>
class pcl::Convolution< PointT >