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<li class="navelem"><a class="el" href="dir_dc3f0030e0556afaf85f681a40c5d7a9.html">pcl</a></li><li class="navelem"><a class="el" href="dir_98856f8f1b5d0586371528df3d9d1844.html">2d</a></li><li class="navelem"><a class="el" href="dir_dd15867593b1a92250a8fc0a7f96d370.html">impl</a></li> </ul>
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<div class="title">convolution.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <pcl/2d/convolution.h></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a> {</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#ad67fdb49fef519511a8332271f1ae18d"> 46</a></span> <a class="code" href="classpcl_1_1_convolution.html#ad67fdb49fef519511a8332271f1ae18d">Convolution<PointT>::filter</a>(<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointT></a>& output)</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordtype">int</span> input_row = 0;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">int</span> input_col = 0;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="comment">// default boundary option : zero padding</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  output = *input_;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordtype">int</span> iw = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(input_->width), ih = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(input_->height),</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  kw = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(kernel_.width), kh = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(kernel_.height);</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">switch</span> (boundary_options_) {</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">case</span> BOUNDARY_OPTION_CLAMP: {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < ih; i++) {</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j < iw; j++) {</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordtype">float</span> intensity = 0;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 0; k < kh; k++) {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> l = 0; l < kw; l++) {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">int</span> ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">if</span> (ikkh < 0)</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  input_row = 0;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ikkh >= ih)</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  input_row = ih - 1;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  input_row = ikkh;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">if</span> (jlkw < 0)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  input_col = 0;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (jlkw >= iw)</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  input_col = iw - 1;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  input_col = jlkw;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  intensity +=</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  kernel_(l, k).intensity * (*input_)(input_col, input_row).intensity;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  }</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  output(j, i).intensity = intensity;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  }</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">case</span> BOUNDARY_OPTION_MIRROR: {</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < ih; i++) {</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j < iw; j++) {</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">float</span> intensity = 0;</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 0; k < kh; k++) {</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> l = 0; l < kw; l++) {</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">int</span> ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">if</span> (ikkh < 0)</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  input_row = -ikkh - 1;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ikkh >= ih)</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  input_row = 2 * ih - 1 - ikkh;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  input_row = ikkh;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">if</span> (jlkw < 0)</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  input_col = -jlkw - 1;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (jlkw >= iw)</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  input_col = 2 * iw - 1 - jlkw;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  input_col = jlkw;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  intensity +=</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  kernel_(l, k).intensity * ((*input_)(input_col, input_row).intensity);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  }</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  }</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  output(j, i).intensity = intensity;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">case</span> BOUNDARY_OPTION_ZERO_PADDING: {</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < ih; i++) {</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j < iw; j++) {</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">float</span> intensity = 0;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 0; k < kh; k++) {</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> l = 0; l < kw; l++) {</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">int</span> ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">if</span> (ikkh < 0 || ikkh >= ih || jlkw < 0 || jlkw >= iw)</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  intensity += kernel_(l, k).intensity * ((*input_)(jlkw, ikkh).intensity);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  }</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  output(j, i).intensity = intensity;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  }</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  } <span class="comment">// switch</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> } <span class="comment">// namespace pcl</span></div>
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<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2distances_8h_source.html#l00055">distances.h:55</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_ad67fdb49fef519511a8332271f1ae18d"><div class="ttname"><a href="classpcl_1_1_convolution.html#ad67fdb49fef519511a8332271f1ae18d">pcl::Convolution::filter</a></div><div class="ttdeci">void filter(pcl::PointCloud< PointT > &output)</div><div class="ttdoc">Performs 2D convolution of the input point cloud with the kernel.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2impl_2convolution_8hpp_source.html#l00046">convolution.hpp:46</a></div></div>
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