Point Cloud Library (PCL) 1.12.1
gaussian.hpp
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39
40#pragma once
41
42#include <pcl/common/gaussian.h>
43
44namespace pcl
45{
46
47template <typename PointT> void
49 std::function <float (const PointT& p)> field_accessor,
50 const Eigen::VectorXf& kernel,
51 pcl::PointCloud<float> &output) const
52{
53 assert(kernel.size () % 2 == 1);
54 int kernel_width = kernel.size () -1;
55 int radius = kernel.size () / 2.0;
56 if(output.height < input.height || output.width < input.width)
57 {
58 output.width = input.width;
59 output.height = input.height;
60 output.resize (input.height * input.width);
61 }
62
63 int i;
64 for(int j = 0; j < input.height; j++)
65 {
66 for (i = 0 ; i < radius ; i++)
67 output (i,j) = 0;
68
69 for ( ; i < input.width - radius ; i++) {
70 output (i,j) = 0;
71 for (int k = kernel_width, l = i - radius; k >= 0 ; k--, l++)
72 output (i,j) += field_accessor (input (l,j)) * kernel[k];
73 }
74
75 for ( ; i < input.width ; i++)
76 output (i,j) = 0;
77 }
78}
79
80template <typename PointT> void
82 std::function <float (const PointT& p)> field_accessor,
83 const Eigen::VectorXf& kernel,
84 pcl::PointCloud<float> &output) const
85{
86 assert(kernel.size () % 2 == 1);
87 int kernel_width = kernel.size () -1;
88 int radius = kernel.size () / 2.0;
89 if(output.height < input.height || output.width < input.width)
90 {
91 output.width = input.width;
92 output.height = input.height;
93 output.resize (input.height * input.width);
94 }
95
96 int j;
97 for(int i = 0; i < input.width; i++)
98 {
99 for (j = 0 ; j < radius ; j++)
100 output (i,j) = 0;
101
102 for ( ; j < input.height - radius ; j++) {
103 output (i,j) = 0;
104 for (int k = kernel_width, l = j - radius ; k >= 0 ; k--, l++)
105 {
106 output (i,j) += field_accessor (input (i,l)) * kernel[k];
107 }
108 }
109
110 for ( ; j < input.height ; j++)
111 output (i,j) = 0;
112 }
113}
114
115} // namespace pcl
116
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.
Definition: point_cloud.h:173
void resize(std::size_t count)
Resizes the container to contain count elements.
Definition: point_cloud.h:462
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:398
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:400
A point structure representing Euclidean xyz coordinates, and the RGB color.