Class Convolution 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. More...

#include <pcl/common/convolution.h>

Public Types
enum	BORDERS_POLICY { IGNORE = -1, MIRROR, DUPLICATE }
	The borders policy available. More...
typedef PointOperatorsType::PointIn	PointIn
typedef PointOperatorsType::PointOut	PointOut
typedef pcl::PointCloud< PointIn >	PointCloudIn
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef pcl::PointCloud< PointOut >	PointCloudOut
typedef PointCloudOut::Ptr	PointCloudOutPtr
typedef pcl::PointCloudSpring < PointIn >	PointCloudSpring
Public Member Functions
	Convolution ()
	Constructor.
void	setBordersPolicy (int policy)
	Set the borders policy.
int	getBordersPolicy ()
	Get the borders policy.
void	setConvolveDirection (int direction)
	Set the convolving direction.
int	getConvolveDirection ()
	Get the convolving direction.
void	convolve (const Eigen::ArrayXf &h_kernel, const Eigen::ArrayXf &v_kernel, PointCloudOutPtr &out)
	Convolve point cloud with an horizontal kernel along rows then vertical kernel along columns : convolve separately.
void	convolveRows (const Eigen::ArrayXf &kernel, PointCloudOutPtr &output)
	Convolve a float image rows by a given kernel.
void	convolveCols (const Eigen::ArrayXf &kernel, PointCloudOutPtr &output)
	Convolve a float image columns by a given kernel.
void	setInputCloud (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset.
void	setInputCloud (const PointCloudInPtr &cloud)
	Provide a pointer to the input dataset.
PointOut	add (const PointIn &lhs, const PointIn &rhs)
	sum 2 PointIn to a PointOut
PointOut	minus (const PointIn &lhs, const PointIn &rhs)
	substract 2 PointIn to a PointOut
PointOut	dot (const float &scalar, const PointIn &p)
	multiply a scalar with a PointIn to a PointOut
PointOut	dot (const PointIn &p, const float &scalar)
	multiply a PointIn with a scalar to a PointOut
PointOut &	plus_assign (PointOut &lhs, const PointOut &rhs)
	sum and assign a PointOut to another PointOut

Detailed Description

template<typename PointOperatorsType>
class pcl::common::Convolution< PointOperatorsType >

Class Convolution 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:

Zero padding convolution: elements at these locations are filled with zero (default behaviour)
Mirroring: the original point cloud is extending by 1/2 kernel width amount mirroring borders
Duplicating: the original point cloud is extending by 1/2 kernel width amount using duplicating the top and bottom rows and/or left and right columns

After convolving the original point cloud is shrinked to the original size.

Author:: Nizar Sallem

Definition at line 81 of file convolution.h.

Member Typedef Documentation

template<typename PointOperatorsType >

typedef pcl::PointCloud<PointIn> pcl::common::Convolution< PointOperatorsType >::PointCloudIn

Definition at line 86 of file convolution.h.

template<typename PointOperatorsType >

typedef PointCloudIn::ConstPtr pcl::common::Convolution< PointOperatorsType >::PointCloudInConstPtr

Definition at line 88 of file convolution.h.

template<typename PointOperatorsType >

typedef PointCloudIn::Ptr pcl::common::Convolution< PointOperatorsType >::PointCloudInPtr

Definition at line 87 of file convolution.h.

template<typename PointOperatorsType >

typedef pcl::PointCloud<PointOut> pcl::common::Convolution< PointOperatorsType >::PointCloudOut

Definition at line 89 of file convolution.h.

template<typename PointOperatorsType >

typedef PointCloudOut::Ptr pcl::common::Convolution< PointOperatorsType >::PointCloudOutPtr

Definition at line 90 of file convolution.h.

template<typename PointOperatorsType >

typedef pcl::PointCloudSpring<PointIn> pcl::common::Convolution< PointOperatorsType >::PointCloudSpring

Definition at line 91 of file convolution.h.

template<typename PointOperatorsType >

typedef PointOperatorsType::PointIn pcl::common::Convolution< PointOperatorsType >::PointIn

Definition at line 84 of file convolution.h.

template<typename PointOperatorsType >

typedef PointOperatorsType::PointOut pcl::common::Convolution< PointOperatorsType >::PointOut

Definition at line 85 of file convolution.h.

Member Enumeration Documentation

template<typename PointOperatorsType >

enum pcl::common::Convolution::BORDERS_POLICY

The borders policy available.

Enumerator:

IGNORE
MIRROR
DUPLICATE

Definition at line 94 of file convolution.h.

Constructor & Destructor Documentation

template<typename PointOperatorsType >

pcl::common::Convolution< PointOperatorsType >::Convolution ( ) [inline]

Constructor.

Definition at line 96 of file convolution.h.

Member Function Documentation

template<typename PointOperatorsType >

PointOut pcl::common::Convolution< PointOperatorsType >::add	(	const PointIn &	lhs,
		const PointIn &	rhs
	)		`[inline]`

sum 2 PointIn to a PointOut

Definition at line 208 of file convolution.h.

template<typename PointOperatorsType >

void pcl::common::Convolution< PointOperatorsType >::convolve	(	const Eigen::ArrayXf &	h_kernel,
		const Eigen::ArrayXf &	v_kernel,
		PointCloudOutPtr &	out
	)		`[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]	out	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 117 of file convolution.h.

template<typename PointOperatorsType >

void pcl::common::Convolution< PointOperatorsType >::convolveCols	(	const Eigen::ArrayXf &	kernel,
		PointCloudOutPtr &	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 169 of file convolution.h.

template<typename PointOperatorsType >

void pcl::common::Convolution< PointOperatorsType >::convolveRows	(	const Eigen::ArrayXf &	kernel,
		PointCloudOutPtr &	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 145 of file convolution.h.

template<typename PointOperatorsType >

PointOut pcl::common::Convolution< PointOperatorsType >::dot	(	const float &	scalar,
		const PointIn &	p
	)		`[inline]`

multiply a scalar with a PointIn to a PointOut

Definition at line 220 of file convolution.h.

template<typename PointOperatorsType >

PointOut pcl::common::Convolution< PointOperatorsType >::dot	(	const PointIn &	p,
		const float &	scalar
	)		`[inline]`

multiply a PointIn with a scalar to a PointOut

Definition at line 226 of file convolution.h.

template<typename PointOperatorsType >

int pcl::common::Convolution< PointOperatorsType >::getBordersPolicy ( ) [inline]

Get the borders policy.

Definition at line 101 of file convolution.h.

template<typename PointOperatorsType >

int pcl::common::Convolution< PointOperatorsType >::getConvolveDirection ( ) [inline]

Get the convolving direction.

Definition at line 106 of file convolution.h.

template<typename PointOperatorsType >

PointOut pcl::common::Convolution< PointOperatorsType >::minus	(	const PointIn &	lhs,
		const PointIn &	rhs
	)		`[inline]`

substract 2 PointIn to a PointOut

Definition at line 214 of file convolution.h.

template<typename PointOperatorsType >

PointOut& pcl::common::Convolution< PointOperatorsType >::plus_assign	(	PointOut &	lhs,
		const PointOut &	rhs
	)		`[inline]`

sum and assign a PointOut to another PointOut

Definition at line 232 of file convolution.h.

template<typename PointOperatorsType >

void pcl::common::Convolution< PointOperatorsType >::setBordersPolicy ( int policy ) [inline]

Set the borders policy.

Definition at line 99 of file convolution.h.

template<typename PointOperatorsType >

void pcl::common::Convolution< PointOperatorsType >::setConvolveDirection ( int direction ) [inline]

Set the convolving direction.

Definition at line 104 of file convolution.h.

template<typename PointOperatorsType >

void pcl::common::Convolution< PointOperatorsType >::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 192 of file convolution.h.

template<typename PointOperatorsType >

void pcl::common::Convolution< PointOperatorsType >::setInputCloud ( const PointCloudInPtr & cloud ) [inline]

Provide a pointer to the input dataset.

Parameters:

cloud the boost shared pointer to a PointCloud message

Remarks:: the point cloud will be transformed internally but then restored so you can safely use it.

Definition at line 202 of file convolution.h.

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

/builddir/build/BUILD/PCL-1.5.1-Source/common/include/pcl/common/convolution.h
/builddir/build/BUILD/PCL-1.5.1-Source/common/include/pcl/common/impl/convolution.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointOperatorsType> class pcl::common::Convolution< PointOperatorsType >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointOperatorsType>
class pcl::common::Convolution< PointOperatorsType >