Convolution3D handles the non organized case where width and height are unknown or if you are only interested in convolving based on local neighborhood information. More...
#include <pcl/filters/convolution_3d.h>
Public Types | |
| typedef pcl::PointCloud< PointIn > | PointCloudIn |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef pcl::search::Search < PointIn > | KdTree |
| typedef pcl::search::Search < PointIn >::Ptr | KdTreePtr |
| typedef pcl::PointCloud< PointOut > | PointCloudOut |
| typedef boost::shared_ptr < Convolution3D< PointIn, PointOut, KernelT > > | Ptr |
| typedef boost::shared_ptr < Convolution3D< PointIn, PointOut, KernelT > > | ConstPtr |
Public Member Functions | |
| Convolution3D () | |
| Constructor. | |
| ~Convolution3D () | |
| Empty destructor. | |
| void | setNumberOfThreads (unsigned int nr_threads=0) |
| Initialize the scheduler and set the number of threads to use. | |
| void | setKernel (const KernelT &kernel) |
| Set convolving kernel. | |
| void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to the input dataset that we need to estimate features at every point for. | |
| PointCloudInConstPtr | getSearchSurface () |
| Get a pointer to the surface point cloud dataset. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors. | |
| double | getRadiusSearch () |
| Get the sphere radius used for determining the neighbors. | |
| void | convolve (PointCloudOut &output) |
| Convolve point cloud. | |
Protected Member Functions | |
| bool | initCompute () |
| initialize computation | |
Protected Attributes | |
| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. | |
| KdTreePtr | tree_ |
| A pointer to the spatial search object. | |
| double | search_radius_ |
| The nearest neighbors search radius for each point. | |
| unsigned int | threads_ |
| number of threads | |
| KernelT | kernel_ |
| convlving kernel | |
Convolution3D handles the non organized case where width and height are unknown or if you are only interested in convolving based on local neighborhood information.
The convolving kernel MUST be a radial symmetric and implement ConvolvingKernel interface.
Definition at line 200 of file convolution_3d.h.
| typedef boost::shared_ptr<Convolution3D<PointIn, PointOut, KernelT> > pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::ConstPtr |
Definition at line 209 of file convolution_3d.h.
| typedef pcl::search::Search<PointIn> pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::KdTree |
Definition at line 205 of file convolution_3d.h.
| typedef pcl::search::Search<PointIn>::Ptr pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::KdTreePtr |
Definition at line 206 of file convolution_3d.h.
| typedef pcl::PointCloud<PointIn> pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::PointCloudIn |
Definition at line 203 of file convolution_3d.h.
| typedef PointCloudIn::ConstPtr pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::PointCloudInConstPtr |
Definition at line 204 of file convolution_3d.h.
| typedef pcl::PointCloud<PointOut> pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::PointCloudOut |
Definition at line 207 of file convolution_3d.h.
| typedef boost::shared_ptr<Convolution3D<PointIn, PointOut, KernelT> > pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::Ptr |
Definition at line 208 of file convolution_3d.h.
| pcl::filters::Convolution3D< PointInT, PointOutT, KernelT >::Convolution3D | ( | ) | [inline] |
Constructor.
Definition at line 171 of file convolution_3d.hpp.
| pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::~Convolution3D | ( | ) | [inline] |
Empty destructor.
Definition at line 218 of file convolution_3d.h.
| void pcl::filters::Convolution3D< PointInT, PointOutT, KernelT >::convolve | ( | PointCloudOut & | output | ) | [inline] |
Convolve point cloud.
| [out] | output | the convolved cloud |
Definition at line 226 of file convolution_3d.hpp.
References pcl::PointCloud< PointT >::height, pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::initCompute(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::kernel_, pcl::PointCloud< PointT >::resize(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::search_radius_, pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::surface_, pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::tree_, and pcl::PointCloud< PointT >::width.
| double pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::getRadiusSearch | ( | ) | [inline] |
Get the sphere radius used for determining the neighbors.
Definition at line 260 of file convolution_3d.h.
References pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::search_radius_.
| KdTreePtr pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::getSearchMethod | ( | ) | [inline] |
Get a pointer to the search method used.
Definition at line 250 of file convolution_3d.h.
References pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::tree_.
| PointCloudInConstPtr pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::getSearchSurface | ( | ) | [inline] |
Get a pointer to the surface point cloud dataset.
Definition at line 240 of file convolution_3d.h.
References pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::surface_.
| bool pcl::filters::Convolution3D< PointInT, PointOutT, KernelT >::initCompute | ( | ) | [inline, protected] |
initialize computation
Reimplemented from pcl::PCLBase< PointIn >.
Definition at line 180 of file convolution_3d.hpp.
References pcl::PCLBase< PointIn >::input_, pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::kernel_, pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::search_radius_, pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::surface_, and pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::tree_.
Referenced by pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::convolve().
| void pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setKernel | ( | const KernelT & | kernel | ) | [inline] |
Set convolving kernel.
| [in] | kernel | convolving element |
Definition at line 230 of file convolution_3d.h.
References pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::kernel_.
| void pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 |
) | [inline] |
Initialize the scheduler and set the number of threads to use.
| nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 224 of file convolution_3d.h.
References pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::threads_.
| void pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setRadiusSearch | ( | double | radius | ) | [inline] |
Set the sphere radius that is to be used for determining the nearest neighbors.
| radius | the sphere radius used as the maximum distance to consider a point a neighbor |
Definition at line 256 of file convolution_3d.h.
References pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::search_radius_.
| void pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline] |
Provide a pointer to the search object.
| tree | a pointer to the spatial search object. |
Definition at line 246 of file convolution_3d.h.
References pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::tree_.
| void pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline] |
Provide a pointer to the input dataset that we need to estimate features at every point for.
| cloud | the const boost shared pointer to a PointCloud message |
Definition at line 236 of file convolution_3d.h.
References pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::surface_.
KernelT pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::kernel_ [protected] |
convlving kernel
Definition at line 285 of file convolution_3d.h.
Referenced by pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::convolve(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::initCompute(), and pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setKernel().
double pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::search_radius_ [protected] |
The nearest neighbors search radius for each point.
Definition at line 279 of file convolution_3d.h.
Referenced by pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::convolve(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::getRadiusSearch(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::initCompute(), and pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setRadiusSearch().
PointCloudInConstPtr pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::surface_ [protected] |
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition at line 273 of file convolution_3d.h.
Referenced by pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::convolve(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::getSearchSurface(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::initCompute(), and pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setSearchSurface().
unsigned int pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::threads_ [protected] |
number of threads
Definition at line 282 of file convolution_3d.h.
Referenced by pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setNumberOfThreads().
KdTreePtr pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::tree_ [protected] |
A pointer to the spatial search object.
Definition at line 276 of file convolution_3d.h.
Referenced by pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::convolve(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::getSearchMethod(), pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::initCompute(), and pcl::filters::Convolution3D< PointIn, PointOut, KernelT >::setSearchMethod().
