139 lines
4.4 KiB
C++
139 lines
4.4 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/2d/convolution.h>
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namespace pcl {
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template <typename PointT>
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void
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Convolution<PointT>::filter(pcl::PointCloud<PointT>& output)
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{
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int input_row = 0;
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int input_col = 0;
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// default boundary option : zero padding
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output = *input_;
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int iw = static_cast<int>(input_->width), ih = static_cast<int>(input_->height),
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kw = static_cast<int>(kernel_.width), kh = static_cast<int>(kernel_.height);
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switch (boundary_options_) {
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default:
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case BOUNDARY_OPTION_CLAMP: {
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for (int i = 0; i < ih; i++) {
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for (int j = 0; j < iw; j++) {
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float intensity = 0;
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for (int k = 0; k < kh; k++) {
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for (int l = 0; l < kw; l++) {
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int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
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if (ikkh < 0)
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input_row = 0;
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else if (ikkh >= ih)
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input_row = ih - 1;
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else
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input_row = ikkh;
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if (jlkw < 0)
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input_col = 0;
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else if (jlkw >= iw)
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input_col = iw - 1;
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else
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input_col = jlkw;
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intensity +=
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kernel_(l, k).intensity * (*input_)(input_col, input_row).intensity;
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}
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}
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output(j, i).intensity = intensity;
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}
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}
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break;
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}
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case BOUNDARY_OPTION_MIRROR: {
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for (int i = 0; i < ih; i++) {
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for (int j = 0; j < iw; j++) {
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float intensity = 0;
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for (int k = 0; k < kh; k++) {
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for (int l = 0; l < kw; l++) {
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int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
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if (ikkh < 0)
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input_row = -ikkh - 1;
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else if (ikkh >= ih)
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input_row = 2 * ih - 1 - ikkh;
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else
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input_row = ikkh;
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if (jlkw < 0)
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input_col = -jlkw - 1;
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else if (jlkw >= iw)
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input_col = 2 * iw - 1 - jlkw;
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else
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input_col = jlkw;
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intensity +=
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kernel_(l, k).intensity * ((*input_)(input_col, input_row).intensity);
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}
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}
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output(j, i).intensity = intensity;
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}
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}
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break;
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}
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case BOUNDARY_OPTION_ZERO_PADDING: {
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for (int i = 0; i < ih; i++) {
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for (int j = 0; j < iw; j++) {
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float intensity = 0;
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for (int k = 0; k < kh; k++) {
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for (int l = 0; l < kw; l++) {
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int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
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if (ikkh < 0 || ikkh >= ih || jlkw < 0 || jlkw >= iw)
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continue;
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intensity += kernel_(l, k).intensity * ((*input_)(jlkw, ikkh).intensity);
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}
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}
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output(j, i).intensity = intensity;
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}
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}
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break;
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}
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} // switch
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}
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} // namespace pcl
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