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gaussian.hpp
/*
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* Point Cloud Library (PCL) - www.pointclouds.org
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#pragma once
#include <pcl/common/gaussian.h>
#include <cassert>
namespace pcl
{
template <typename PointT> void
GaussianKernel::convolveRows(const pcl::PointCloud<PointT> &input,
std::function <float (const PointT& p)> field_accessor,
const Eigen::VectorXf& kernel,
pcl::PointCloud<float> &output) const
{
assert(kernel.size () % 2 == 1);
int kernel_width = kernel.size () -1;
int radius = kernel.size () / 2.0;
if(output.height < input.height || output.width < input.width)
{
output.width = input.width;
output.height = input.height;
output.resize (input.height * input.width);
}
int i;
for(int j = 0; j < input.height; j++)
{
for (i = 0 ; i < radius ; i++)
output (i,j) = 0;
for ( ; i < input.width - radius ; i++) {
output (i,j) = 0;
for (int k = kernel_width, l = i - radius; k >= 0 ; k--, l++)
output (i,j) += field_accessor (input (l,j)) * kernel[k];
}
for ( ; i < input.width ; i++)
output (i,j) = 0;
}
}
template <typename PointT> void
GaussianKernel::convolveCols(const pcl::PointCloud<PointT> &input,
std::function <float (const PointT& p)> field_accessor,
const Eigen::VectorXf& kernel,
pcl::PointCloud<float> &output) const
{
assert(kernel.size () % 2 == 1);
int kernel_width = kernel.size () -1;
int radius = kernel.size () / 2.0;
if(output.height < input.height || output.width < input.width)
{
output.width = input.width;
output.height = input.height;
output.resize (input.height * input.width);
}
int j;
for(int i = 0; i < input.width; i++)
{
for (j = 0 ; j < radius ; j++)
output (i,j) = 0;
for ( ; j < input.height - radius ; j++) {
output (i,j) = 0;
for (int k = kernel_width, l = j - radius ; k >= 0 ; k--, l++)
{
output (i,j) += field_accessor (input (i,l)) * kernel[k];
}
}
for ( ; j < input.height ; j++)
output (i,j) = 0;
}
}
} // namespace pcl
pcl::GaussianKernel::convolveCols
void convolveCols(const pcl::PointCloud< float > &input, const Eigen::VectorXf &kernel, pcl::PointCloud< float > &output) const
Convolve a float image columns by a given kernel.
pcl::GaussianKernel::convolveRows
void convolveRows(const pcl::PointCloud< float > &input, const Eigen::VectorXf &kernel, pcl::PointCloud< float > &output) const
Convolve a float image rows by a given kernel.
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::PointCloud::resize
void resize(std::size_t count)
Resizes the container to contain count elements.
Definition point_cloud.h:462
pcl::PointCloud::width
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition point_cloud.h:398
pcl::PointCloud::height
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition point_cloud.h:400
pcl::kernel
Definition kernel.h:46
pcl
Definition convolution.h:46
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition point_types.hpp:623