convolution.h

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 * $Id: convolution.h 4255 2012-02-05 06:58:59Z rusu $
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#ifndef PCL_COMMON_CONVOLUTION_H_
#define PCL_COMMON_CONVOLUTION_H_

#include <Eigen/Core>
#include <pcl/common/point_operators.h>
#include <pcl/common/spring.h>
#include <pcl/exceptions.h>

namespace pcl
{
  namespace common
  {
    template <typename PointOperatorsType>
    class Convolution
    {
      public:
        typedef typename PointOperatorsType::PointIn PointIn;
        typedef typename PointOperatorsType::PointOut PointOut;
        typedef typename pcl::PointCloud<PointIn> PointCloudIn;
        typedef typename PointCloudIn::Ptr PointCloudInPtr;
        typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
        typedef typename pcl::PointCloud<PointOut> PointCloudOut;
        typedef typename PointCloudOut::Ptr PointCloudOutPtr;
        typedef typename pcl::PointCloudSpring<PointIn> PointCloudSpring;

        enum BORDERS_POLICY { IGNORE = -1, MIRROR, DUPLICATE };
        Convolution () : borders_policy_ (IGNORE), convolve_direction_ (-1) {}
        void 
        setBordersPolicy (int policy) { borders_policy_ = policy; }
        int getBordersPolicy () { return (borders_policy_); }
        void 
        setConvolveDirection (int direction) { convolve_direction_ = direction; }
        int getConvolveDirection () { return (convolve_direction_); }        
        
        inline void
        convolve (const Eigen::ArrayXf& h_kernel, 
                  const Eigen::ArrayXf& v_kernel,
                  PointCloudOutPtr& out)
        {
          kernel_width_ = h_kernel.size ();
          convolve_direction_ = PointCloudSpring::BOTH;
          output_ = out;
          
          try
          {
            initCompute ();
            convolve_rows (h_kernel, output_);
            convolve_cols (v_kernel, output_);
            deinitCompute ();
          }
          catch (InitFailedException& e)
          {
            PCL_THROW_EXCEPTION (InitFailedException,
                                 "[pcl::common::Convolution::convolveCols] init failed " << e.what ());
          }          
        }
        inline void
        convolveRows (const Eigen::ArrayXf& kernel, PointCloudOutPtr& output)
        {
          kernel_width_ = kernel.size ();
          convolve_direction_ = PointCloudSpring::HORIZONTAL;
          output_ = output;
          try
          {
            initCompute ();
            convolve_rows (kernel, output_);
            deinitCompute ();
          }
          catch (InitFailedException& e)
          {
            PCL_THROW_EXCEPTION (InitFailedException,
                                 "[pcl::common::Convolution::convolveRows] init failed " << e.what ());
          }
        }
        inline void
        convolveCols (const Eigen::ArrayXf& kernel, PointCloudOutPtr& output)
        {
          kernel_width_ = kernel.size ();
          convolve_direction_ = PointCloudSpring::VERTICAL;
          output_ = output;
          
          try
          {
            initCompute ();
            convolve_cols (kernel, output_);
            deinitCompute ();
          }
          catch (InitFailedException& e)
          {
            PCL_THROW_EXCEPTION (InitFailedException,
                                 "[pcl::common::Convolution::convolveCols] init failed " << e.what ());
          }          
        }
        inline void
        setInputCloud (const PointCloudInConstPtr& cloud)
        {
          input_.reset (new PointCloudIn (*cloud));
        }
        inline void
        setInputCloud (const PointCloudInPtr& cloud)
        {
          input_ = cloud;
        }
        inline PointOut 
        add (const PointIn& lhs, const PointIn& rhs)
        {
          return (operators_.add (lhs, rhs));
        }
        inline PointOut
        minus (const PointIn& lhs, const PointIn& rhs)
        {
          return (operators_.minus (lhs, rhs));
        }
        inline PointOut 
        dot (const float& scalar, const PointIn& p) 
        {
          return (operators_.dot (scalar, p));
        }
        inline PointOut 
        dot (const PointIn& p, const float& scalar)
        {
          return (operators_.dot (scalar, p));
        }
        inline PointOut&
        plus_assign (PointOut& lhs, const PointOut& rhs)
        {
          return (operators_.plus_assign (lhs, rhs));
        }

      private:
        void
        initCompute ();
        inline void
        deinitCompute ()
        {
          if (borders_policy_ == MIRROR || borders_policy_ == DUPLICATE)
            spring_.shrink ();
        }
        inline void
        convolve_rows (const Eigen::ArrayXf& kernel, PointCloudOutPtr& out);
        inline void
        convolve_cols (const Eigen::ArrayXf& kernel, PointCloudOutPtr& out);
        PointOperatorsType operators_;
        int borders_policy_;
        int convolve_direction_;
        PointCloudOutPtr output_;
        PointCloudInPtr input_;
        int kernel_width_;
        int half_width_;
        PointCloudSpring spring_;
    };
  }
}

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

#endif