Point Cloud Library (PCL) 1.14.0
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gaussian.hpp
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39
40#pragma once
41
42#include <pcl/common/gaussian.h>
43#include <cassert>
44
45namespace pcl
46{
47
48template <typename PointT> void
50 std::function <float (const PointT& p)> field_accessor,
51 const Eigen::VectorXf& kernel,
52 pcl::PointCloud<float> &output) const
53{
54 assert(kernel.size () % 2 == 1);
55 int kernel_width = kernel.size () -1;
56 int radius = kernel.size () / 2.0;
57 if(output.height < input.height || output.width < input.width)
58 {
59 output.width = input.width;
60 output.height = input.height;
61 output.resize (input.height * input.width);
62 }
63
64 int i;
65 for(int j = 0; j < input.height; j++)
66 {
67 for (i = 0 ; i < radius ; i++)
68 output (i,j) = 0;
69
70 for ( ; i < input.width - radius ; i++) {
71 output (i,j) = 0;
72 for (int k = kernel_width, l = i - radius; k >= 0 ; k--, l++)
73 output (i,j) += field_accessor (input (l,j)) * kernel[k];
74 }
75
76 for ( ; i < input.width ; i++)
77 output (i,j) = 0;
78 }
79}
80
81template <typename PointT> void
83 std::function <float (const PointT& p)> field_accessor,
84 const Eigen::VectorXf& kernel,
85 pcl::PointCloud<float> &output) const
86{
87 assert(kernel.size () % 2 == 1);
88 int kernel_width = kernel.size () -1;
89 int radius = kernel.size () / 2.0;
90 if(output.height < input.height || output.width < input.width)
91 {
92 output.width = input.width;
93 output.height = input.height;
94 output.resize (input.height * input.width);
95 }
96
97 int j;
98 for(int i = 0; i < input.width; i++)
99 {
100 for (j = 0 ; j < radius ; j++)
101 output (i,j) = 0;
102
103 for ( ; j < input.height - radius ; j++) {
104 output (i,j) = 0;
105 for (int k = kernel_width, l = j - radius ; k >= 0 ; k--, l++)
106 {
107 output (i,j) += field_accessor (input (i,l)) * kernel[k];
108 }
109 }
110
111 for ( ; j < input.height ; j++)
112 output (i,j) = 0;
113 }
114}
115
116} // namespace pcl
117
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.
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.
PointCloud represents the base class in PCL for storing collections of 3D points.
void resize(std::size_t count)
Resizes the container to contain count elements.
std::uint32_t width
The point cloud width (if organized as an image-structure).
std::uint32_t height
The point cloud height (if organized as an image-structure).
A point structure representing Euclidean xyz coordinates, and the RGB color.