Point Cloud Library (PCL)
1.10.0
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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>
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>
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>
190 operator() (
const std::vector<int>& indices,
const std::vector<float>& distances);
198 template <
typename Po
intIn,
typename Po
intOut,
typename KernelT>
289 #include <pcl/filters/impl/convolution_3d.hpp>
GaussianKernelRGB()
Default constructor.
This file defines compatibility wrappers for low level I/O functions.
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.
KdTreePtr tree_
A pointer to the spatial search object.
virtual bool initCompute()
Must call this method before doing any computation.
virtual PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)
Convolve point at the center of this local information.
void setSigma(float sigma)
Set the sigma parameter of the Gaussian.
shared_ptr< const ConvolvingKernel< PointInT, PointOutT > > ConstPtr
PointCloudInConstPtr input_
source cloud
static void makeInfinite(PointOutT &p)
Utility function that annihilates a point making it fail the pcl::isFinite test.
GaussianKernel()
Default constructor.
boost::optional< float > sigma_coefficient_
void setThresholdRelativeToSigma(float sigma_coefficient)
Set the distance threshold relative to a sigma factor i.e.
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
double search_radius_
The nearest neighbors search radius for each point.
void convolve(PointCloudOut &output)
Convolve point cloud.
PointCloud represents the base class in PCL for storing collections of 3D points.
ConvolvingKernel()
empty constructor
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
bool initCompute()
initialize computation
PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)
Convolve point at the center of this local information.
typename PointCloud< PointInT >::ConstPtr PointCloudInConstPtr
Convolution3D handles the non organized case where width and height are unknown or if you are only in...
void setInputCloud(const PointCloudInConstPtr &input)
Set input cloud.
Convolution3D()
Constructor.
void setKernel(const KernelT &kernel)
Set convolving kernel.
void setThreshold(float threshold)
Set the distance threshold such as pi, ||pi - q|| > threshold are not considered.
typename PointCloudIn::ConstPtr PointCloudInConstPtr
shared_ptr< pcl::search::Search< PointT > > Ptr
PointCloudInConstPtr getSearchSurface()
Get a pointer to the surface point cloud dataset.
~Convolution3D()
Empty destructor.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
shared_ptr< ConvolvingKernel< PointInT, PointOutT > > Ptr
shared_ptr< Convolution3D< PointIn, PointOut, KernelT > > ConstPtr
typename KdTree::Ptr KdTreePtr
pcl::PointCloud< PointOut > PointCloudOut
bool initCompute()
Must call this method before doing any computation.
Class ConvolvingKernel base class for all convolving kernels.
shared_ptr< const PointCloud< PointT > > ConstPtr
double getRadiusSearch()
Get the sphere radius used for determining the neighbors.
virtual PointOutT operator()(const std::vector< int > &indices, const std::vector< float > &distances)=0
Convolve point at the center of this local information.
unsigned int threads_
number of threads
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
virtual ~ConvolvingKernel()
empty destructor
virtual ~GaussianKernel()
KernelT kernel_
convlving kernel
Gaussian kernel implementation interface with RGB channel handling Use this as implementation referen...
Gaussian kernel implementation interface Use this as implementation reference.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.