40 #ifndef PCL_FILTERS_CONVOLUTION_3D_H 41 #define PCL_FILTERS_CONVOLUTION_3D_H 43 #include <pcl/pcl_base.h> 44 #include <pcl/filters/boost.h> 45 #include <pcl/search/pcl_search.h> 54 template<
typename Po
intInT,
typename Po
intOutT>
58 typedef boost::shared_ptr<ConvolvingKernel<PointInT, PointOutT> >
Ptr;
59 typedef boost::shared_ptr<const ConvolvingKernel<PointInT, PointOutT> >
ConstPtr;
81 operator() (
const std::vector<int>& indices,
const std::vector<float>& distances) = 0;
102 p.x = p.y = p.z = std::numeric_limits<float>::quiet_NaN ();
114 template<
typename Po
intInT,
typename Po
intOutT>
122 typedef boost::shared_ptr<GaussianKernel<PointInT, PointOutT> >
Ptr;
123 typedef boost::shared_ptr<GaussianKernel<PointInT, PointOutT> >
ConstPtr;
157 operator() (
const std::vector<int>& indices,
const std::vector<float>& distances);
170 template<
typename Po
intInT,
typename Po
intOutT>
180 typedef boost::shared_ptr<GaussianKernelRGB<PointInT, PointOutT> >
Ptr;
181 typedef boost::shared_ptr<GaussianKernelRGB<PointInT, PointOutT> >
ConstPtr;
191 operator() (
const std::vector<int>& indices,
const std::vector<float>& distances);
199 template <
typename Po
intIn,
typename Po
intOut,
typename KernelT>
208 typedef boost::shared_ptr<Convolution3D<PointIn, PointOut, KernelT> >
Ptr;
209 typedef boost::shared_ptr<Convolution3D<PointIn, PointOut, KernelT> >
ConstPtr;
290 #include <pcl/filters/impl/convolution_3d.hpp> 292 #endif // PCL_FILTERS_CONVOLUTION_3D_H pcl::search::Search< PointIn > KdTree
boost::shared_ptr< GaussianKernelRGB< PointInT, PointOutT > > Ptr
boost::shared_ptr< GaussianKernelRGB< PointInT, PointOutT > > ConstPtr
boost::shared_ptr< GaussianKernel< PointInT, PointOutT > > Ptr
pcl::PointCloud< PointIn > PointCloudIn
KdTreePtr tree_
A pointer to the spatial search object.
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors.
boost::shared_ptr< GaussianKernel< PointInT, PointOutT > > ConstPtr
void setThresholdRelativeToSigma(float sigma_coefficient)
Set the distance threshold relative to a sigma factor i.e.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
virtual PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)
Convolve point at the center of this local information.
KernelT kernel_
convlving kernel
void setThreshold(float threshold)
Set the distance threshold such as pi, ||pi - q|| > threshold are not considered.
PointCloudIn::ConstPtr PointCloudInConstPtr
boost::optional< float > sigma_coefficient_
double getRadiusSearch()
Get the sphere radius used for determining the neighbors.
boost::shared_ptr< ConvolvingKernel< PointInT, PointOutT > > Ptr
boost::shared_ptr< const ConvolvingKernel< PointInT, PointOutT > > ConstPtr
PointCloudInConstPtr input_
source cloud
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
virtual ~ConvolvingKernel()
empty destructor
Gaussian kernel implementation interface with RGB channel handling Use this as implementation referen...
GaussianKernelRGB()
Default constructor.
Convolution3D handles the non organized case where width and height are unknown or if you are only in...
PointCloudInConstPtr getSearchSurface()
Get a pointer to the surface point cloud dataset.
pcl::search::Search< PointIn >::Ptr KdTreePtr
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
pcl::PointCloud< PointOut > PointCloudOut
void setKernel(const KernelT &kernel)
Set convolving kernel.
double search_radius_
The nearest neighbors search radius for each point.
Convolution3D()
Constructor.
Gaussian kernel implementation interface Use this as implementation reference.
static void makeInfinite(PointOutT &p)
Utility function that annihilates a point making it fail the pcl::isFinite test.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
bool initCompute()
initialize computation
virtual PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)=0
Convolve point at the center of this local information.
bool initCompute()
Must call this methode before doing any computation.
PointCloud represents the base class in PCL for storing collections of 3D points.
Class ConvolvingKernel base class for all convolving kernels.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
boost::shared_ptr< Convolution3D< PointIn, PointOut, KernelT > > Ptr
void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for.
void convolve(PointCloudOut &output)
Convolve point cloud.
boost::shared_ptr< Convolution3D< PointIn, PointOut, KernelT > > ConstPtr
PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)
Convolve point at the center of this local information.
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
virtual ~GaussianKernel()
GaussianKernel()
Default constructor.
void setInputCloud(const PointCloudInConstPtr &input)
Set input cloud.
ConvolvingKernel()
empty constructor
void setSigma(float sigma)
Set the sigma parameter of the Gaussian.
unsigned int threads_
number of threads
~Convolution3D()
Empty destructor.
PointCloud< PointInT >::ConstPtr PointCloudInConstPtr
virtual bool initCompute()
Must call this methode before doing any computation.