convolution.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */

#ifndef PCL_FILTERS_CONVOLUTION_H_
#define PCL_FILTERS_CONVOLUTION_H_

#include <pcl/common/eigen.h>
#include <pcl/common/point_operators.h>
#include <pcl/point_cloud.h>
#include <pcl/exceptions.h>
#include <pcl/pcl_base.h>

namespace pcl
{
  namespace filters
  {
    template <typename PointIn, typename PointOut>
    class Convolution
    {
      public:
        typedef typename pcl::PointCloud<PointIn> PointCloudIn;
        typedef typename PointCloudIn::Ptr PointCloudInPtr;
        typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
        typedef typename pcl::PointCloud<PointOut> PointCloudOut;
        typedef boost::shared_ptr< Convolution<PointIn, PointOut> > Ptr;
        typedef boost::shared_ptr< const Convolution<PointIn, PointOut> > ConstPtr;


        enum BORDERS_POLICY
        {
          BORDERS_POLICY_IGNORE = -1,
          BORDERS_POLICY_MIRROR = 0,
          BORDERS_POLICY_DUPLICATE = 1
        };
        Convolution ();
        ~Convolution () {}
        inline void
        setInputCloud (const PointCloudInConstPtr& cloud) { input_ = cloud; }
        inline void
        setKernel (const Eigen::ArrayXf& kernel) { kernel_ = kernel; }
        void
        setBordersPolicy (int policy) { borders_policy_ = policy; }
        int
        getBordersPolicy () { return (borders_policy_); }
        inline void
        setDistanceThreshold (const float& threshold) { distance_threshold_ = threshold; }
        inline const float &
        getDistanceThreshold () const { return (distance_threshold_); }
        inline void
        setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
        inline void
        convolveRows (PointCloudOut& output);
        inline void
        convolveCols (PointCloudOut& output);
        inline void
        convolve (const Eigen::ArrayXf& h_kernel, const Eigen::ArrayXf& v_kernel, PointCloudOut& output);
        inline void
        convolve (PointCloudOut& output);

      protected:
        void
        convolve_rows (PointCloudOut& output);
        void
        convolve_cols (PointCloudOut& output);
        void
        convolve_rows_mirror (PointCloudOut& output);
        void
        convolve_cols_mirror (PointCloudOut& output);
        void
        convolve_rows_duplicate (PointCloudOut& output);
        void
        convolve_cols_duplicate (PointCloudOut& output);
        void
        initCompute (PointCloudOut& output);
      private:
        inline PointOut
        convolveOneRowDense (int i, int j);
        inline PointOut
        convolveOneColDense (int i, int j);
        inline PointOut
        convolveOneRowNonDense (int i, int j);
        inline PointOut
        convolveOneColNonDense (int i, int j);

        int borders_policy_;
        float distance_threshold_;
        PointCloudInConstPtr input_;
        Eigen::ArrayXf kernel_;
        int half_width_;
        int kernel_width_;
      protected:
        unsigned int threads_;

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

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

#endif