convolution_3d.h

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#ifndef PCL_FILTERS_CONVOLUTION_3D_H
#define PCL_FILTERS_CONVOLUTION_3D_H

#include <pcl/pcl_base.h>
#include <pcl/filters/boost.h>
#include <pcl/search/pcl_search.h>

namespace pcl
{
  namespace filters
  {
    template<typename PointInT, typename PointOutT>
    class ConvolvingKernel
    {
      public:
        typedef boost::shared_ptr<ConvolvingKernel<PointInT, PointOutT> > Ptr;
        typedef boost::shared_ptr<const ConvolvingKernel<PointInT, PointOutT> > ConstPtr;
 
        typedef typename PointCloud<PointInT>::ConstPtr PointCloudInConstPtr;

        ConvolvingKernel () {}

        virtual ~ConvolvingKernel () {}

        void
        setInputCloud (const PointCloudInConstPtr& input) { input_ = input; }

        virtual PointOutT
        operator() (const std::vector<int>& indices, const std::vector<float>& distances) = 0;

        virtual bool
        initCompute () { return false; }

        static void
        makeInfinite (PointOutT& p)
        {
          p.x = p.y = p.z = std::numeric_limits<float>::quiet_NaN ();
        }

      protected:
        PointCloudInConstPtr input_;
    };

    template<typename PointInT, typename PointOutT>
    class GaussianKernel : public ConvolvingKernel <PointInT, PointOutT>
    {
      public:
        using ConvolvingKernel<PointInT, PointOutT>::initCompute;
        using ConvolvingKernel<PointInT, PointOutT>::input_;
        using ConvolvingKernel<PointInT, PointOutT>::operator ();
        using ConvolvingKernel<PointInT, PointOutT>::makeInfinite;
        typedef boost::shared_ptr<GaussianKernel<PointInT, PointOutT> > Ptr;
        typedef boost::shared_ptr<GaussianKernel<PointInT, PointOutT> > ConstPtr;

        GaussianKernel ()
          : ConvolvingKernel <PointInT, PointOutT> ()
          , sigma_ (0)
          , threshold_ (std::numeric_limits<float>::infinity ())
        {}

        virtual ~GaussianKernel () {}

        inline void
        setSigma (float sigma) { sigma_ = sigma; }

        inline void
        setThresholdRelativeToSigma (float sigma_coefficient)
        {
          sigma_coefficient_.reset (sigma_coefficient);
        }

        inline void
        setThreshold (float threshold) { threshold_ = threshold; }

        bool initCompute ();

        virtual PointOutT
        operator() (const std::vector<int>& indices, const std::vector<float>& distances);

      protected:
        float sigma_;
        float sigma_sqr_;
        float threshold_;
        boost::optional<float> sigma_coefficient_;
    };

    template<typename PointInT, typename PointOutT>
    class GaussianKernelRGB : public GaussianKernel <PointInT, PointOutT>
    {
      public:
        using GaussianKernel<PointInT, PointOutT>::initCompute;
        using GaussianKernel<PointInT, PointOutT>::input_;
        using GaussianKernel<PointInT, PointOutT>::operator ();
        using GaussianKernel<PointInT, PointOutT>::makeInfinite;
        using GaussianKernel<PointInT, PointOutT>::sigma_sqr_;
        using GaussianKernel<PointInT, PointOutT>::threshold_;
        typedef boost::shared_ptr<GaussianKernelRGB<PointInT, PointOutT> > Ptr;
        typedef boost::shared_ptr<GaussianKernelRGB<PointInT, PointOutT> > ConstPtr;

        GaussianKernelRGB ()
          : GaussianKernel <PointInT, PointOutT> ()
        {}

        ~GaussianKernelRGB () {}

        PointOutT
        operator() (const std::vector<int>& indices, const std::vector<float>& distances);
    };

    template <typename PointIn, typename PointOut, typename KernelT>
    class Convolution3D : public pcl::PCLBase <PointIn>
    {
      public:
        typedef typename pcl::PointCloud<PointIn> PointCloudIn;
        typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
        typedef typename pcl::search::Search<PointIn> KdTree;
        typedef typename pcl::search::Search<PointIn>::Ptr KdTreePtr;
        typedef typename pcl::PointCloud<PointOut> PointCloudOut;
        typedef boost::shared_ptr<Convolution3D<PointIn, PointOut, KernelT> > Ptr;
        typedef boost::shared_ptr<Convolution3D<PointIn, PointOut, KernelT> > ConstPtr;

        using pcl::PCLBase<PointIn>::indices_;
        using pcl::PCLBase<PointIn>::input_;

        Convolution3D ();

        ~Convolution3D () {}

        inline void
        setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }

        inline void
        setKernel (const KernelT& kernel) { kernel_ = kernel; }

        inline void
        setSearchSurface (const PointCloudInConstPtr &cloud) { surface_ = cloud; }

        inline PointCloudInConstPtr
        getSearchSurface () { return (surface_); }

        inline void
        setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }

        inline KdTreePtr
        getSearchMethod () { return (tree_); }

        inline void
        setRadiusSearch (double radius) { search_radius_ = radius; }

        inline double
        getRadiusSearch () { return (search_radius_); }

        void
        convolve (PointCloudOut& output);

      protected:
        bool initCompute ();

        PointCloudInConstPtr surface_;

        KdTreePtr tree_;

        double search_radius_;

        unsigned int threads_;

        KernelT kernel_;
    };
  }
}

#include <pcl/filters/impl/convolution_3d.hpp>

#endif // PCL_FILTERS_CONVOLUTION_3D_H