convolution.hpp

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#pragma once
 
#include <pcl/2d/convolution.h>
 
namespace pcl {
 
template <typename PointT>
void
Convolution<PointT>::filter(pcl::PointCloud<PointT>& output)
{
  int input_row = 0;
  int input_col = 0;
  // default boundary option : zero padding
  output = *input_;
 
  int iw = static_cast<int>(input_->width), ih = static_cast<int>(input_->height),
      kw = static_cast<int>(kernel_.width), kh = static_cast<int>(kernel_.height);
  switch (boundary_options_) {
  default:
  case BOUNDARY_OPTION_CLAMP: {
    for (int i = 0; i < ih; i++) {
      for (int j = 0; j < iw; j++) {
        float intensity = 0;
        for (int k = 0; k < kh; k++) {
          for (int l = 0; l < kw; l++) {
            int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
            if (ikkh < 0)
              input_row = 0;
            else if (ikkh >= ih)
              input_row = ih - 1;
            else
              input_row = ikkh;
 
            if (jlkw < 0)
              input_col = 0;
            else if (jlkw >= iw)
              input_col = iw - 1;
            else
              input_col = jlkw;
 
            intensity +=
                kernel_(l, k).intensity * (*input_)(input_col, input_row).intensity;
          }
        }
        output(j, i).intensity = intensity;
      }
    }
    break;
  }
 
  case BOUNDARY_OPTION_MIRROR: {
    for (int i = 0; i < ih; i++) {
      for (int j = 0; j < iw; j++) {
        float intensity = 0;
        for (int k = 0; k < kh; k++) {
          for (int l = 0; l < kw; l++) {
            int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
            if (ikkh < 0)
              input_row = -ikkh - 1;
            else if (ikkh >= ih)
              input_row = 2 * ih - 1 - ikkh;
            else
              input_row = ikkh;
 
            if (jlkw < 0)
              input_col = -jlkw - 1;
            else if (jlkw >= iw)
              input_col = 2 * iw - 1 - jlkw;
            else
              input_col = jlkw;
 
            intensity +=
                kernel_(l, k).intensity * ((*input_)(input_col, input_row).intensity);
          }
        }
        output(j, i).intensity = intensity;
      }
    }
    break;
  }
 
  case BOUNDARY_OPTION_ZERO_PADDING: {
    for (int i = 0; i < ih; i++) {
      for (int j = 0; j < iw; j++) {
        float intensity = 0;
        for (int k = 0; k < kh; k++) {
          for (int l = 0; l < kw; l++) {
            int ikkh = i + k - kh / 2, jlkw = j + l - kw / 2;
            if (ikkh < 0 || ikkh >= ih || jlkw < 0 || jlkw >= iw)
              continue;
            intensity += kernel_(l, k).intensity * ((*input_)(jlkw, ikkh).intensity);
          }
        }
        output(j, i).intensity = intensity;
      }
    }
    break;
  }
  } // switch
}
} // namespace pcl