gaussian.hpp

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#pragma once
 
#include <pcl/common/gaussian.h>
#include <cassert>
 
namespace pcl
{
 
template <typename PointT> void
GaussianKernel::convolveRows(const pcl::PointCloud<PointT> &input,
                             std::function <float (const PointT& p)> field_accessor,
                             const Eigen::VectorXf& kernel,
                             pcl::PointCloud<float> &output) const
{
  assert(kernel.size () % 2 == 1);
  int kernel_width = kernel.size () -1;
  int radius = kernel.size () / 2.0;
  if(output.height < input.height || output.width < input.width)
  {
    output.width = input.width;
    output.height = input.height;
    output.resize (input.height * input.width);
  }
 
  int i;
  for(int j = 0; j < input.height; j++)
  {
    for (i = 0 ; i < radius ; i++)
      output (i,j) = 0;
 
    for ( ; i < input.width - radius ; i++)  {
      output (i,j) = 0;
      for (int k = kernel_width, l = i - radius; k >= 0 ; k--, l++)
        output (i,j) += field_accessor (input (l,j)) * kernel[k];
    }
 
    for ( ; i < input.width ; i++)
      output (i,j) = 0;
  }
}
 
template <typename PointT> void
GaussianKernel::convolveCols(const pcl::PointCloud<PointT> &input,
                             std::function <float (const PointT& p)> field_accessor,
                             const Eigen::VectorXf& kernel,
                             pcl::PointCloud<float> &output) const
{
  assert(kernel.size () % 2 == 1);
  int kernel_width = kernel.size () -1;
  int radius = kernel.size () / 2.0;
  if(output.height < input.height || output.width < input.width)
  {
    output.width = input.width;
    output.height = input.height;
    output.resize (input.height * input.width);
  }
 
  int j;
  for(int i = 0; i < input.width; i++)
  {
    for (j = 0 ; j < radius ; j++)
      output (i,j) = 0;
 
    for ( ; j < input.height - radius ; j++)  {
      output (i,j) = 0;
      for (int k = kernel_width, l = j - radius ; k >= 0 ; k--, l++)
      {
        output (i,j) += field_accessor (input (i,l)) * kernel[k];
      }
    }
 
    for ( ; j < input.height ; j++)
      output (i,j) = 0;
  }
}
 
} // namespace pcl