#include <convolution.h>

Public Types
enum	BORDERS_POLICY { BORDERS_POLICY_IGNORE = -1, BORDERS_POLICY_MIRROR = 0, BORDERS_POLICY_DUPLICATE = 1 }
	The borders policy available. More...
typedef boost::shared_ptr < const Convolution< PointIn, PointOut > >	ConstPtr
typedef pcl::PointCloud< PointIn >	PointCloudIn
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef pcl::PointCloud< PointOut >	PointCloudOut
typedef boost::shared_ptr < Convolution< PointIn, PointOut > >	Ptr
Public Member Functions
	Convolution ()
	Constructor.
void	convolve (const Eigen::ArrayXf &h_kernel, const Eigen::ArrayXf &v_kernel, PointCloudOut &output)
void	convolve (PointCloudOut &output)
void	convolveCols (PointCloudOut &output)
void	convolveRows (PointCloudOut &output)
int	getBordersPolicy ()
	Get the borders policy.
const float &	getDistanceThreshold () const
void	setBordersPolicy (int policy)
	Set the borders policy.
void	setDistanceThreshold (const float &threshold)
void	setInputCloud (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset.
void	setKernel (const Eigen::ArrayXf &kernel)
void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use.
	~Convolution ()
	Empty destructor.
Protected Member Functions
void	convolve_cols (PointCloudOut &output)
	convolve cols and ignore borders
void	convolve_cols_duplicate (PointCloudOut &output)
	convolve cols and duplicate borders
void	convolve_cols_mirror (PointCloudOut &output)
	convolve cols and mirror borders
void	convolve_rows (PointCloudOut &output)
	convolve rows and ignore borders
void	convolve_rows_duplicate (PointCloudOut &output)
	convolve rows and duplicate borders
void	convolve_rows_mirror (PointCloudOut &output)
	convolve rows and mirror borders
void	initCompute (PointCloudOut &output)
void	makeInfinite (PointOut &p)
template<>
void	makeInfinite (pcl::RGB &p)
Protected Attributes
unsigned int	threads_
	The number of threads the scheduler should use.
Private Member Functions
PointOut	convolveOneColDense (int i, int j)
template<>
pcl::PointXYZRGB	convolveOneColDense (int i, int j)
template<>
pcl::RGB	convolveOneColDense (int i, int j)
PointOut	convolveOneColNonDense (int i, int j)
template<>
pcl::PointXYZRGB	convolveOneColNonDense (int i, int j)
template<>
pcl::RGB	convolveOneColNonDense (int i, int j)
PointOut	convolveOneRowDense (int i, int j)
template<>
pcl::PointXYZRGB	convolveOneRowDense (int i, int j)
template<>
pcl::RGB	convolveOneRowDense (int i, int j)
PointOut	convolveOneRowNonDense (int i, int j)
template<>
pcl::PointXYZRGB	convolveOneRowNonDense (int i, int j)
template<>
pcl::RGB	convolveOneRowNonDense (int i, int j)
Private Attributes
int	borders_policy_
	Border policy.
float	distance_threshold_
	Threshold distance between adjacent points.
int	half_width_
	half kernel size
PointCloudInConstPtr	input_
	Pointer to the input cloud.
Eigen::ArrayXf	kernel_
	convolution kernel
int	kernel_width_
	kernel size - 1

Detailed Description

template<typename PointIn, typename PointOut>
class pcl::filters::Convolution< PointIn, PointOut >

Convolution is a mathematical operation on two functions f and g, producing a third function that is typically viewed as a modified version of one of the original functions. see http://en.wikipedia.org/wiki/Convolution.

The class provides rows, column and separate convolving operations of a point cloud. Columns and separate convolution is only allowed on organised point clouds.

When convolving, computing the rows and cols elements at 1/2 kernel width distance from the borders is not defined. We allow for 3 policies:

Ignoring: elements at special locations are filled with zero (default behaviour)
Mirroring: the missing rows or columns are obtained throug mirroring
Duplicating: the missing rows or columns are obtained throug duplicating

Author:: Nizar Sallem

Definition at line 77 of file convolution.h.

Member Typedef Documentation

template<typename PointIn, typename PointOut>

typedef boost::shared_ptr< const Convolution<PointIn, PointOut> > pcl::filters::Convolution< PointIn, PointOut >::ConstPtr

Definition at line 85 of file convolution.h.

template<typename PointIn, typename PointOut>

typedef pcl::PointCloud<PointIn> pcl::filters::Convolution< PointIn, PointOut >::PointCloudIn

Definition at line 80 of file convolution.h.

template<typename PointIn, typename PointOut>

typedef PointCloudIn::ConstPtr pcl::filters::Convolution< PointIn, PointOut >::PointCloudInConstPtr

Definition at line 82 of file convolution.h.

template<typename PointIn, typename PointOut>

typedef PointCloudIn::Ptr pcl::filters::Convolution< PointIn, PointOut >::PointCloudInPtr

Definition at line 81 of file convolution.h.

template<typename PointIn, typename PointOut>

typedef pcl::PointCloud<PointOut> pcl::filters::Convolution< PointIn, PointOut >::PointCloudOut

Definition at line 83 of file convolution.h.

template<typename PointIn, typename PointOut>

typedef boost::shared_ptr< Convolution<PointIn, PointOut> > pcl::filters::Convolution< PointIn, PointOut >::Ptr

Definition at line 84 of file convolution.h.

Member Enumeration Documentation

template<typename PointIn, typename PointOut>

enum pcl::filters::Convolution::BORDERS_POLICY

The borders policy available.

Enumerator:

BORDERS_POLICY_IGNORE
BORDERS_POLICY_MIRROR
BORDERS_POLICY_DUPLICATE

Definition at line 89 of file convolution.h.

Constructor & Destructor Documentation

template<typename PointIn , typename PointOut >

pcl::filters::Convolution< PointIn, PointOut >::Convolution ( )

Constructor.

Definition at line 47 of file convolution.hpp.

template<typename PointIn, typename PointOut>

pcl::filters::Convolution< PointIn, PointOut >::~Convolution ( ) [inline]

Empty destructor.

Definition at line 98 of file convolution.h.

Member Function Documentation

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::convolve	(	const Eigen::ArrayXf &	h_kernel,
		const Eigen::ArrayXf &	v_kernel,
		PointCloudOut &	output
	)		`[inline]`

Convolve point cloud with an horizontal kernel along rows then vertical kernel along columns : convolve separately.

Parameters:

[in]	h_kernel	kernel for convolving rows
[in]	v_kernel	kernel for convolving columns
[out]	output	the convolved cloud

Note:: if output doesn't fit in input i.e. output.rows () < input.rows () or output.cols () < input.cols () then output is resized to input sizes.

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::convolve ( PointCloudOut & output ) [inline]

Convolve point cloud with same kernel along rows and columns separately.

Parameters:

[out] output the convolved cloud

Note:: if output doesn't fit in input i.e. output.rows () < input.rows () or output.cols () < input.cols () then output is resized to input sizes.

template<typename PointIn , typename PointOut >

void pcl::filters::Convolution< PointIn, PointOut >::convolve_cols ( PointCloudOut & output ) [protected]

convolve cols and ignore borders

Definition at line 539 of file convolution.hpp.

template<typename PointIn , typename PointOut >

void pcl::filters::Convolution< PointIn, PointOut >::convolve_cols_duplicate ( PointCloudOut & output ) [protected]

convolve cols and duplicate borders

Definition at line 583 of file convolution.hpp.

template<typename PointIn , typename PointOut >

void pcl::filters::Convolution< PointIn, PointOut >::convolve_cols_mirror ( PointCloudOut & output ) [protected]

convolve cols and mirror borders

Definition at line 628 of file convolution.hpp.

template<typename PointIn , typename PointOut >

void pcl::filters::Convolution< PointIn, PointOut >::convolve_rows ( PointCloudOut & output ) [protected]

convolve rows and ignore borders

Definition at line 405 of file convolution.hpp.

template<typename PointIn , typename PointOut >

void pcl::filters::Convolution< PointIn, PointOut >::convolve_rows_duplicate ( PointCloudOut & output ) [protected]

convolve rows and duplicate borders

Definition at line 449 of file convolution.hpp.

template<typename PointIn , typename PointOut >

void pcl::filters::Convolution< PointIn, PointOut >::convolve_rows_mirror ( PointCloudOut & output ) [protected]

convolve rows and mirror borders

Definition at line 494 of file convolution.hpp.

template<typename PointIn , typename PointOut >

void pcl::filters::Convolution< PointIn, PointOut >::convolveCols ( PointCloudOut & output ) [inline]

Convolve a float image columns by a given kernel.

Parameters:

[in]	kernel	convolution kernel
[out]	output	the convolved image

Note:: if output doesn't fit in input i.e. output.rows () < input.rows () or output.cols () < input.cols () then output is resized to input sizes.

Definition at line 109 of file convolution.hpp.

template<typename PointIn , typename PointOut >

PointOut pcl::filters::Convolution< PointIn, PointOut >::convolveOneColDense	(	int	i,
		int	j
	)		`[inline, private]`

Returns:: the result of convolution of point at (, )

Note:: no test on finity is performed

Definition at line 177 of file convolution.hpp.

template<>

pcl::PointXYZRGB pcl::filters::Convolution< pcl::PointXYZRGB, pcl::PointXYZRGB >::convolveOneColDense	(	int	i,
		int	j
	)		`[private]`

Definition at line 263 of file convolution.hpp.

template<>

pcl::RGB pcl::filters::Convolution< pcl::RGB, pcl::RGB >::convolveOneColDense	(	int	i,
		int	j
	)		`[private]`

Definition at line 368 of file convolution.hpp.

template<typename PointIn , typename PointOut >

PointOut pcl::filters::Convolution< PointIn, PointOut >::convolveOneColNonDense	(	int	i,
		int	j
	)		`[inline, private]`

Returns:: the result of convolution of point at (, )

Note:: only finite points within distance_threshold_ are accounted

Definition at line 213 of file convolution.hpp.

template<>

pcl::PointXYZRGB pcl::filters::Convolution< pcl::PointXYZRGB, pcl::PointXYZRGB >::convolveOneColNonDense	(	int	i,
		int	j
	)		`[private]`

Definition at line 317 of file convolution.hpp.

template<>

pcl::RGB pcl::filters::Convolution< pcl::RGB, pcl::RGB >::convolveOneColNonDense	(	int	i,
		int	j
	)		`[private]`

Definition at line 391 of file convolution.hpp.

template<typename PointIn , typename PointOut >

PointOut pcl::filters::Convolution< PointIn, PointOut >::convolveOneRowDense	(	int	i,
		int	j
	)		`[inline, private]`

Returns:: the result of convolution of point at (, )

Note:: no test on finity is performed

Definition at line 167 of file convolution.hpp.

template<>

pcl::PointXYZRGB pcl::filters::Convolution< pcl::PointXYZRGB, pcl::PointXYZRGB >::convolveOneRowDense	(	int	i,
		int	j
	)		`[private]`

Definition at line 243 of file convolution.hpp.

template<>

pcl::RGB pcl::filters::Convolution< pcl::RGB, pcl::RGB >::convolveOneRowDense	(	int	i,
		int	j
	)		`[private]`

Definition at line 351 of file convolution.hpp.

template<typename PointIn , typename PointOut >

PointOut pcl::filters::Convolution< PointIn, PointOut >::convolveOneRowNonDense	(	int	i,
		int	j
	)		`[inline, private]`

Returns:: the result of convolution of point at (, )

Note:: only finite points within distance_threshold_ are accounted

Definition at line 187 of file convolution.hpp.

template<>

pcl::PointXYZRGB pcl::filters::Convolution< pcl::PointXYZRGB, pcl::PointXYZRGB >::convolveOneRowNonDense	(	int	i,
		int	j
	)		`[private]`

Definition at line 283 of file convolution.hpp.

template<>

pcl::RGB pcl::filters::Convolution< pcl::RGB, pcl::RGB >::convolveOneRowNonDense	(	int	i,
		int	j
	)		`[private]`

Definition at line 385 of file convolution.hpp.

template<typename PointIn , typename PointOut >

void pcl::filters::Convolution< PointIn, PointOut >::convolveRows ( PointCloudOut & output ) [inline]

Convolve a float image rows by a given kernel.

Parameters:

[in]	kernel	convolution kernel
[out]	output	the convolved cloud

Note:: if output doesn't fit in input i.e. output.rows () < input.rows () or output.cols () < input.cols () then output is resized to input sizes.

Definition at line 89 of file convolution.hpp.

template<typename PointIn, typename PointOut>

int pcl::filters::Convolution< PointIn, PointOut >::getBordersPolicy ( ) [inline]

Get the borders policy.

Definition at line 115 of file convolution.h.

template<typename PointIn, typename PointOut>

const float& pcl::filters::Convolution< PointIn, PointOut >::getDistanceThreshold ( ) const [inline]

Returns:: the distance threshold

Definition at line 127 of file convolution.h.

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::initCompute ( PointCloudOut & output ) [protected]

init compute is an internal method called before computation

Parameters:

[in] kernel convolution kernel to be used

Exceptions:

pcl::InitFailedException

Definition at line 58 of file convolution.hpp.

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::makeInfinite ( PointOut & p ) [inline, protected]

Definition at line 231 of file convolution.h.

template<>

void pcl::filters::Convolution< pcl::RGB, pcl::RGB >::makeInfinite ( pcl::RGB & p ) [protected]

Definition at line 397 of file convolution.hpp.

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::setBordersPolicy ( int policy ) [inline]

Set the borders policy.

Definition at line 112 of file convolution.h.

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::setDistanceThreshold ( const float & threshold ) [inline]

Remarks:: this is critical so please read it carefully. In 3D the next point in (u,v) coordinate can be really far so a distance threshold is used to keep us from ghost points. The value you set here is strongly related to the sensor. A good value for kinect data is 0.001 is std::numeric<float>::infinity ()

Parameters:

[in] threshold maximum allowed distance between 2 juxtaposed points

Definition at line 124 of file convolution.h.

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::setInputCloud ( const PointCloudInConstPtr & cloud ) [inline]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Remarks:: Will perform a deep copy

Definition at line 104 of file convolution.h.

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::setKernel ( const Eigen::ArrayXf & kernel ) [inline]

Set convolving kernel

Parameters:

[in] kernel convolving element

Definition at line 109 of file convolution.h.

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::setNumberOfThreads ( unsigned int nr_threads = 0 ) [inline]

Initialize the scheduler and set the number of threads to use.

Parameters:

nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 132 of file convolution.h.

Member Data Documentation

template<typename PointIn, typename PointOut>

int pcl::filters::Convolution< PointIn, PointOut >::borders_policy_ [private]

Border policy.

Definition at line 215 of file convolution.h.

template<typename PointIn, typename PointOut>

float pcl::filters::Convolution< PointIn, PointOut >::distance_threshold_ [private]

Threshold distance between adjacent points.

Definition at line 217 of file convolution.h.

template<typename PointIn, typename PointOut>

int pcl::filters::Convolution< PointIn, PointOut >::half_width_ [private]

half kernel size

Definition at line 223 of file convolution.h.

template<typename PointIn, typename PointOut>

PointCloudInConstPtr pcl::filters::Convolution< PointIn, PointOut >::input_ [private]

Pointer to the input cloud.

Definition at line 219 of file convolution.h.

template<typename PointIn, typename PointOut>

Eigen::ArrayXf pcl::filters::Convolution< PointIn, PointOut >::kernel_ [private]

convolution kernel

Definition at line 221 of file convolution.h.

template<typename PointIn, typename PointOut>

int pcl::filters::Convolution< PointIn, PointOut >::kernel_width_ [private]

kernel size - 1

Definition at line 225 of file convolution.h.

template<typename PointIn, typename PointOut>

unsigned int pcl::filters::Convolution< PointIn, PointOut >::threads_ [protected]

The number of threads the scheduler should use.

Definition at line 228 of file convolution.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

template<typename PointIn, typename PointOut> class pcl::filters::Convolution< PointIn, PointOut >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointIn, typename PointOut>
class pcl::filters::Convolution< PointIn, PointOut >