gaussian.h

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 * $Id: gaussian.h 3535 2011-12-14 22:21:39Z rusu $
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#ifndef PCL_GAUSSIAN_KERNEL
#define PCL_GAUSSIAN_KERNEL

#include <sstream>
#include <Eigen/Core>

#include <pcl/point_cloud.h>
#include <boost/function.hpp>

namespace pcl
{
  class PCL_EXPORTS GaussianKernel
  {
    public:

      GaussianKernel () {}

      static const unsigned MAX_KERNEL_WIDTH = 71;
      void
      compute (float sigma, 
               Eigen::VectorXf &kernel,
               unsigned kernel_width = MAX_KERNEL_WIDTH) const;

      void
      compute (float sigma, 
               Eigen::VectorXf &kernel, 
               Eigen::VectorXf &derivative, 
               unsigned kernel_width = MAX_KERNEL_WIDTH) const;

      void
      convolveRows (const pcl::PointCloud<float> &input,
                    const Eigen::VectorXf &kernel,
                    pcl::PointCloud<float> &output) const;

     template <typename PointT> void
     convolveRows (const pcl::PointCloud<PointT> &input,
                   boost::function <float (const PointT& p)> field_accessor,
                   const Eigen::VectorXf &kernel,
                   pcl::PointCloud<float> &output) const;

      void
      convolveCols (const pcl::PointCloud<float> &input,
                    const Eigen::VectorXf &kernel,
                    pcl::PointCloud<float> &output) const;

      template <typename PointT> void
      convolveCols (const pcl::PointCloud<PointT> &input,
                    boost::function <float (const PointT& p)> field_accessor,
                    const Eigen::VectorXf &kernel,
                    pcl::PointCloud<float> &output) const;

      inline void
      convolve (const pcl::PointCloud<float> &input,
                const Eigen::VectorXf &horiz_kernel,
                const Eigen::VectorXf &vert_kernel,
                pcl::PointCloud<float> &output) const
      {
        std::cout << ">>> convolve cpp" << std::endl;
        pcl::PointCloud<float> tmp (input.width, input.height) ;
        convolveRows (input, horiz_kernel, tmp);        
        convolveCols (tmp, vert_kernel, output);
        std::cout << "<<< convolve cpp" << std::endl;
      }

      template <typename PointT> inline void
      convolve (const pcl::PointCloud<PointT> &input,
                boost::function <float (const PointT& p)> field_accessor,
                const Eigen::VectorXf &horiz_kernel,
                const Eigen::VectorXf &vert_kernel,
                pcl::PointCloud<float> &output) const
      {
        std::cout << ">>> convolve hpp" << std::endl;
        pcl::PointCloud<float> tmp (input.width, input.height);
        convolveRows<PointT>(input, field_accessor, horiz_kernel, tmp);
        convolveCols(tmp, vert_kernel, output);
        std::cout << "<<< convolve hpp" << std::endl;
      }
      
      inline void
      computeGradients (const pcl::PointCloud<float> &input,
                        const Eigen::VectorXf &gaussian_kernel,
                        const Eigen::VectorXf &gaussian_kernel_derivative,
                        pcl::PointCloud<float> &grad_x,
                        pcl::PointCloud<float> &grad_y) const
      {
        convolve (input, gaussian_kernel_derivative, gaussian_kernel, grad_x);
        convolve (input, gaussian_kernel, gaussian_kernel_derivative, grad_y);
      }

      template <typename PointT> inline void
      computeGradients (const pcl::PointCloud<PointT> &input,
                        boost::function <float (const PointT& p)> field_accessor,
                        const Eigen::VectorXf &gaussian_kernel,
                        const Eigen::VectorXf &gaussian_kernel_derivative,
                        pcl::PointCloud<float> &grad_x,
                        pcl::PointCloud<float> &grad_y) const
      {
        convolve<PointT> (input, field_accessor, gaussian_kernel_derivative, gaussian_kernel, grad_x);
        convolve<PointT> (input, field_accessor, gaussian_kernel, gaussian_kernel_derivative, grad_y);
      }
      
      inline void
      smooth (const pcl::PointCloud<float> &input,
              const Eigen::VectorXf &gaussian_kernel,
              pcl::PointCloud<float> &output) const
      {
        convolve (input, gaussian_kernel, gaussian_kernel, output);
      }

      template <typename PointT> inline void
      smooth (const pcl::PointCloud<PointT> &input,
              boost::function <float (const PointT& p)> field_accessor,
              const Eigen::VectorXf &gaussian_kernel,
              pcl::PointCloud<float> &output) const
      {
        convolve<PointT> (input, field_accessor, gaussian_kernel, gaussian_kernel, output);
      }
  };
}

#include "pcl/common/impl/gaussian.hpp"

#endif // PCL_GAUSSIAN_KERNEL