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/filters/convolution.h>

Public Types
enum	BORDERS_POLICY { BORDERS_POLICY_IGNORE = -1 , BORDERS_POLICY_MIRROR = 0 , BORDERS_POLICY_DUPLICATE = 1 }
	The borders policy available. More...
using	PointCloudIn = pcl::PointCloud<PointIn>
using	PointCloudInPtr = typename PointCloudIn::Ptr
using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using	PointCloudOut = pcl::PointCloud<PointOut>
using	Ptr = shared_ptr< Convolution<PointIn, PointOut> >
using	ConstPtr = shared_ptr< const Convolution<PointIn, PointOut> >

Public Member Functions
	Convolution ()
	Constructor.
	~Convolution ()=default
	Empty destructor.
void	setInputCloud (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset.
void	setKernel (const Eigen::ArrayXf &kernel)
	Set convolving kernel.
void	setBordersPolicy (int policy)
	Set the borders policy.
int	getBordersPolicy ()
	Get the borders policy.
void	setDistanceThreshold (const float &threshold)
const float &	getDistanceThreshold () const
void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use.
void	convolveRows (PointCloudOut &output)
	Convolve a float image rows by a given kernel.
void	convolveCols (PointCloudOut &output)
	Convolve a float image columns by a given kernel.
void	convolve (const Eigen::ArrayXf &h_kernel, const Eigen::ArrayXf &v_kernel, PointCloudOut &output)
	Convolve point cloud with an horizontal kernel along rows then vertical kernel along columns : convolve separately.
void	convolve (PointCloudOut &output)
	Convolve point cloud with same kernel along rows and columns separately.

Protected Member Functions
void	convolve_rows (PointCloudOut &output)
	convolve rows and ignore borders
void	convolve_cols (PointCloudOut &output)
	convolve cols and ignore borders
void	convolve_rows_mirror (PointCloudOut &output)
	convolve rows and mirror borders
void	convolve_cols_mirror (PointCloudOut &output)
	convolve cols and mirror borders
void	convolve_rows_duplicate (PointCloudOut &output)
	convolve rows and duplicate borders
void	convolve_cols_duplicate (PointCloudOut &output)
	convolve cols and duplicate borders
void	initCompute (PointCloudOut &output)
	init compute is an internal method called before computation
void	makeInfinite (PointOut &p)
void	makeInfinite (pcl::RGB &p)

Protected Attributes
unsigned int	threads_ {1}
	The number of threads the scheduler should use.

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 https://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 through mirroring
Duplicating: the missing rows or columns are obtained through duplicating

Author: Nizar Sallem

Definition at line 72 of file convolution.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointIn, typename PointOut>

using pcl::filters::Convolution< PointIn, PointOut >::ConstPtr = shared_ptr< const Convolution<PointIn, PointOut> >

Definition at line 80 of file convolution.h.

◆ PointCloudIn

template<typename PointIn, typename PointOut>

using pcl::filters::Convolution< PointIn, PointOut >::PointCloudIn = pcl::PointCloud<PointIn>

Definition at line 75 of file convolution.h.

◆ PointCloudInConstPtr

template<typename PointIn, typename PointOut>

using pcl::filters::Convolution< PointIn, PointOut >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 77 of file convolution.h.

◆ PointCloudInPtr

template<typename PointIn, typename PointOut>

using pcl::filters::Convolution< PointIn, PointOut >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 76 of file convolution.h.

◆ PointCloudOut

template<typename PointIn, typename PointOut>

using pcl::filters::Convolution< PointIn, PointOut >::PointCloudOut = pcl::PointCloud<PointOut>

Definition at line 78 of file convolution.h.

◆ Ptr

template<typename PointIn, typename PointOut>

using pcl::filters::Convolution< PointIn, PointOut >::Ptr = shared_ptr< Convolution<PointIn, PointOut> >

Definition at line 79 of file convolution.h.

Member Enumeration Documentation

◆ BORDERS_POLICY

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 84 of file convolution.h.

Constructor & Destructor Documentation

◆ Convolution()

template<typename PointIn, typename PointOut>

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

Constructor.

Definition at line 54 of file convolution.hpp.

References BORDERS_POLICY_IGNORE.

◆ ~Convolution()

template<typename PointIn, typename PointOut>

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

default

Empty destructor.

Member Function Documentation

◆ convolve() [1/2]

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.

Definition at line 132 of file convolution.hpp.

References convolveCols(), convolveRows(), setInputCloud(), and setKernel().

Referenced by pcl::ColorGradientModality< PointInT >::processInputData().

◆ convolve() [2/2]

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.

Definition at line 153 of file convolution.hpp.

References convolveCols(), convolveRows(), and setInputCloud().

◆ convolve_cols()

template<typename PointIn, typename PointOut>

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

protected

convolve cols and ignore borders

Definition at line 418 of file convolution.hpp.

References makeInfinite().

Referenced by convolveCols().

◆ convolve_cols_duplicate()

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 464 of file convolution.hpp.

Referenced by convolveCols().

◆ convolve_cols_mirror()

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 511 of file convolution.hpp.

Referenced by convolveCols().

◆ convolve_rows()

template<typename PointIn, typename PointOut>

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

protected

convolve rows and ignore borders

Definition at line 278 of file convolution.hpp.

References makeInfinite().

Referenced by convolveRows().

◆ convolve_rows_duplicate()

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 324 of file convolution.hpp.

Referenced by convolveRows().

◆ convolve_rows_mirror()

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 371 of file convolution.hpp.

Referenced by convolveRows().

◆ convolveCols()

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

[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 112 of file convolution.hpp.

References BORDERS_POLICY_DUPLICATE, BORDERS_POLICY_IGNORE, BORDERS_POLICY_MIRROR, convolve_cols(), convolve_cols_duplicate(), convolve_cols_mirror(), and initCompute().

Referenced by convolve(), and convolve().

◆ convolveRows()

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

[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 92 of file convolution.hpp.

References BORDERS_POLICY_DUPLICATE, BORDERS_POLICY_IGNORE, BORDERS_POLICY_MIRROR, convolve_rows(), convolve_rows_duplicate(), convolve_rows_mirror(), and initCompute().

Referenced by convolve(), and convolve().

◆ getBordersPolicy()

template<typename PointIn, typename PointOut>

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

inline

Get the borders policy.

Definition at line 110 of file convolution.h.

◆ getDistanceThreshold()

template<typename PointIn, typename PointOut>

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

inline

Returns: the distance threshold

Definition at line 122 of file convolution.h.

◆ initCompute()

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] output

Exceptions

pcl::InitFailedException

Definition at line 61 of file convolution.hpp.

References BORDERS_POLICY_DUPLICATE, BORDERS_POLICY_IGNORE, BORDERS_POLICY_MIRROR, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

Referenced by convolveCols(), and convolveRows().

◆ makeInfinite() [1/2]

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

inlineprotected

Definition at line 272 of file convolution.hpp.

◆ makeInfinite() [2/2]

template<typename PointIn, typename PointOut>

void pcl::filters::Convolution< PointIn, PointOut >::makeInfinite ( PointOut & p )

inlineprotected

Definition at line 224 of file convolution.h.

Referenced by convolve_cols(), and convolve_rows().

◆ setBordersPolicy()

template<typename PointIn, typename PointOut>

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

inline

Set the borders policy.

Definition at line 107 of file convolution.h.

Referenced by pcl::ColorGradientModality< PointInT >::processInputData().

◆ setDistanceThreshold()

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. Default is std::numeric<float>::infinity ()

Parameters

[in] threshold maximum allowed distance between 2 juxtaposed points

Definition at line 119 of file convolution.h.

◆ setInputCloud()

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 99 of file convolution.h.

Referenced by convolve(), convolve(), and pcl::ColorGradientModality< PointInT >::processInputData().

◆ setKernel()

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 104 of file convolution.h.

Referenced by convolve(), and pcl::ColorGradientModality< PointInT >::processInputData().

◆ setNumberOfThreads()

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 127 of file convolution.h.

References threads_.

Member Data Documentation

◆ threads_

template<typename PointIn, typename PointOut>

unsigned int pcl::filters::Convolution< PointIn, PointOut >::threads_ {1}

protected

The number of threads the scheduler should use.

Definition at line 221 of file convolution.h.

Referenced by setNumberOfThreads().

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

pcl/filters/convolution.h
pcl/filters/impl/convolution.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

◆ PointCloudOut

◆ Ptr

Member Enumeration Documentation

◆ BORDERS_POLICY

Constructor & Destructor Documentation

◆ Convolution()

◆ ~Convolution()

Member Function Documentation

◆ convolve() [1/2]

◆ convolve() [2/2]

◆ convolve_cols()

◆ convolve_cols_duplicate()

◆ convolve_cols_mirror()

◆ convolve_rows()

◆ convolve_rows_duplicate()

◆ convolve_rows_mirror()

◆ convolveCols()

◆ convolveRows()

◆ getBordersPolicy()

◆ getDistanceThreshold()

◆ initCompute()

◆ makeInfinite() [1/2]

◆ makeInfinite() [2/2]

◆ setBordersPolicy()

◆ setDistanceThreshold()

◆ setInputCloud()

◆ setKernel()

◆ setNumberOfThreads()

Member Data Documentation

◆ threads_