42 #include <pcl/pcl_base.h>
43 #include <pcl/filters/boost.h>
44 #include <pcl/search/pcl_search.h>
53 template<
typename Po
intInT,
typename Po
intOutT>
57 using Ptr = shared_ptr<ConvolvingKernel<PointInT, PointOutT> >;
58 using ConstPtr = shared_ptr<const ConvolvingKernel<PointInT, PointOutT> >;
80 operator() (
const std::vector<int>& indices,
const std::vector<float>& distances) = 0;
101 p.x = p.y = p.z = std::numeric_limits<float>::quiet_NaN ();
113 template<
typename Po
intInT,
typename Po
intOutT>
121 using Ptr = shared_ptr<GaussianKernel<PointInT, PointOutT> >;
122 using ConstPtr = shared_ptr<GaussianKernel<PointInT, PointOutT> >;
128 ,
threshold_ (std::numeric_limits<float>::infinity ())
156 operator() (
const std::vector<int>& indices,
const std::vector<float>& distances);
169 template<
typename Po
intInT,
typename Po
intOutT>
179 using Ptr = shared_ptr<GaussianKernelRGB<PointInT, PointOutT> >;
180 using ConstPtr = shared_ptr<GaussianKernelRGB<PointInT, PointOutT> >;
190 operator() (
const std::vector<int>& indices,
const std::vector<float>& distances);
198 template <
typename Po
intIn,
typename Po
intOut,
typename KernelT>
207 using Ptr = shared_ptr<Convolution3D<PointIn, PointOut, KernelT> >;
208 using ConstPtr = shared_ptr<Convolution3D<PointIn, PointOut, KernelT> >;
289 #include <pcl/filters/impl/convolution_3d.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< const PointCloud< PointT > > ConstPtr
Convolution3D handles the non organized case where width and height are unknown or if you are only in...
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
void setKernel(const KernelT &kernel)
Set convolving kernel.
~Convolution3D()
Empty destructor.
bool initCompute()
initialize computation
typename KdTree::Ptr KdTreePtr
KernelT kernel_
convlving kernel
double getRadiusSearch()
Get the sphere radius used for determining the neighbors.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for.
typename PointCloudIn::ConstPtr PointCloudInConstPtr
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors.
KdTreePtr tree_
A pointer to the spatial search object.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
unsigned int threads_
number of threads
shared_ptr< Convolution3D< PointIn, PointOut, KernelT > > Ptr
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
void convolve(PointCloudOut &output)
Convolve point cloud.
pcl::PointCloud< PointOut > PointCloudOut
Convolution3D()
Constructor.
PointCloudInConstPtr getSearchSurface()
Get a pointer to the surface point cloud dataset.
shared_ptr< Convolution3D< PointIn, PointOut, KernelT > > ConstPtr
double search_radius_
The nearest neighbors search radius for each point.
Class ConvolvingKernel base class for all convolving kernels.
shared_ptr< ConvolvingKernel< PointInT, PointOutT > > Ptr
ConvolvingKernel()
empty constructor
virtual ~ConvolvingKernel()
empty destructor
static void makeInfinite(PointOutT &p)
Utility function that annihilates a point making it fail the pcl::isFinite test.
PointCloudInConstPtr input_
source cloud
shared_ptr< const ConvolvingKernel< PointInT, PointOutT > > ConstPtr
typename PointCloud< PointInT >::ConstPtr PointCloudInConstPtr
virtual PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)=0
Convolve point at the center of this local information.
void setInputCloud(const PointCloudInConstPtr &input)
Set input cloud.
virtual bool initCompute()
Must call this method before doing any computation.
Gaussian kernel implementation interface Use this as implementation reference.
virtual PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)
Convolve point at the center of this local information.
void setThresholdRelativeToSigma(float sigma_coefficient)
Set the distance threshold relative to a sigma factor i.e.
boost::optional< float > sigma_coefficient_
void setSigma(float sigma)
Set the sigma parameter of the Gaussian.
bool initCompute()
Must call this method before doing any computation.
GaussianKernel()
Default constructor.
void setThreshold(float threshold)
Set the distance threshold such as pi, ||pi - q|| > threshold are not considered.
virtual ~GaussianKernel()
Gaussian kernel implementation interface with RGB channel handling Use this as implementation referen...
GaussianKernelRGB()
Default constructor.
PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)
Convolve point at the center of this local information.
shared_ptr< pcl::search::Search< PointT > > Ptr