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<li class="navelem"><a class="el" href="dir_dc3f0030e0556afaf85f681a40c5d7a9.html">pcl</a></li><li class="navelem"><a class="el" href="dir_98856f8f1b5d0586371528df3d9d1844.html">2d</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <pcl/filters/filter.h></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <<a class="code" href="memory_8h.html">pcl/memory.h</a>></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <pcl/pcl_base.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <<a class="code" href="pcl__macros_8h.html">pcl/pcl_macros.h</a>></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="namespacepcl.html"> 46</a></span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"></span> </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment">/// Point cloud containing edge information.</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structpcl_1_1_point_x_y_z_i_edge.html"> 49</a></span> <span class="comment"></span><span class="keyword">struct </span>EIGEN_ALIGN16 <a class="code" href="structpcl_1_1_point_x_y_z_i_edge.html">PointXYZIEdge</a> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structpcl_1_1_point_x_y_z_i_edge.html#ad2c870e8fd353c496ffacbf3a2d051c7"> 50</a></span>  <a class="code" href="structpcl_1_1_point_x_y_z_i_edge.html#ad2c870e8fd353c496ffacbf3a2d051c7">PCL_ADD_POINT4D</a>; <span class="comment">// preferred way of adding a XYZ+padding</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structpcl_1_1_point_x_y_z_i_edge.html#a0af85e605cb11b6b0644540bb3fd76b0"> 51</a></span>  <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_point_x_y_z_i_edge.html#a0af85e605cb11b6b0644540bb3fd76b0">magnitude</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structpcl_1_1_point_x_y_z_i_edge.html#acd0df99fe961fd1a18b5edd5cd372504"> 52</a></span>  <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_point_x_y_z_i_edge.html#acd0df99fe961fd1a18b5edd5cd372504">direction</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structpcl_1_1_point_x_y_z_i_edge.html#ae9e99849cb7f22beaae5314b6e4534f5"> 53</a></span>  <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_point_x_y_z_i_edge.html#ae9e99849cb7f22beaae5314b6e4534f5">magnitude_x</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structpcl_1_1_point_x_y_z_i_edge.html#ab7a8cd5613937c7eb909a01f82a309dd"> 54</a></span>  <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_point_x_y_z_i_edge.html#ab7a8cd5613937c7eb909a01f82a309dd">magnitude_y</a>;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="group__common.html#ga35846236568f16ca7fa07d958966e12c">PCL_MAKE_ALIGNED_OPERATOR_NEW</a> <span class="comment">// make sure our new allocators are aligned</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> }; <span class="comment">// enforce SSE padding for correct memory alignment</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"></span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment">/// A 2D convolution class.</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html"> 60</a></span> <span class="keyword">class </span><a class="code" href="classpcl_1_1_convolution.html">Convolution</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a><PointT> {</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="keyword">public</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter<PointT>::input_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"></span> </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> /**</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> * Extra pixels are added to the input image so that convolution can be performed over</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> * the entire image.</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> * (kernel_height/2) rows are added before the first row and after the last row</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> * (kernel_width/2) columns are added before the first column and after the last</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> * column border options define what values are set for these extra rows and columns</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> * Assume that the three rows of right edge of the image looks like this:</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> * .. 3 2 1</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> * .. 6 5 4</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> * .. 9 8 7</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> * BOUNDARY_OPTION_CLAMP : the extra pixels are set to the pixel value of the boundary</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> * pixel. This option makes it seem as if it were:</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"> * .. 3 2 1| 1 1 1 ..</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> * .. 6 5 4| 4 4 4 ..</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"> * .. 9 8 7| 7 7 7 ..</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> * BOUNDARY_OPTION_MIRROR : the input image is mirrored at the boundary. This option</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> * makes it seem as if it were:</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"> * .. 3 2 1| 1 2 3 ..</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"> * .. 6 5 4| 4 5 6 ..</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"> * .. 9 8 7| 7 8 9 ..</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"> * BOUNDARY_OPTION_ZERO_PADDING : the extra pixels are simply set to 0. This option</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> * makes it seem as if it were:</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> * .. 3 2 1| 0 0 0 ..</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> * .. 6 5 4| 0 0 0 ..</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> * .. 9 8 7| 0 0 0 ..</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"> * Note that the input image is not actually extended in size. Instead, based on these</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> * options, the convolution is performed differently at the border pixels.</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5a"> 98</a></span>  <span class="keyword">enum</span> <a class="code" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5a">BOUNDARY_OPTIONS_ENUM</a> {</div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aad83d4305d392abf17525a35d2ace89ec"> 99</a></span>  <a class="code" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aad83d4305d392abf17525a35d2ace89ec">BOUNDARY_OPTION_CLAMP</a>,</div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aa9c46845ab1ec319b4c18993773f1d1b4"> 100</a></span>  <a class="code" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aa9c46845ab1ec319b4c18993773f1d1b4">BOUNDARY_OPTION_MIRROR</a>,</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aa5f63c128a95850697e69869afa2acc78">BOUNDARY_OPTION_ZERO_PADDING</a></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aa5f63c128a95850697e69869afa2acc78"> 102</a></span>  };</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#a719c1d87a81bb39bc43786ab8236d785"> 104</a></span>  <a class="code" href="classpcl_1_1_convolution.html#a719c1d87a81bb39bc43786ab8236d785">Convolution</a>() { boundary_options_ = <a class="code" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aad83d4305d392abf17525a35d2ace89ec">BOUNDARY_OPTION_CLAMP</a>; }</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"></span> </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> /** \brief Sets the kernel to be used for convolution</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> * \param[in] kernel convolution kernel passed by reference</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#abd56054085b145cba9e22eac32f49ad3"> 110</a></span>  <a class="code" href="classpcl_1_1_convolution.html#abd56054085b145cba9e22eac32f49ad3">setKernel</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointT></a>& <a class="code" href="classpcl_1_1kernel.html">kernel</a>)</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  kernel_ = <a class="code" href="classpcl_1_1kernel.html">kernel</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  }</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"></span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> /**</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> * \param[in] boundary_options enum indicating the boundary options to be used for</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> * convolution</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#a26d8b40573f7af9c8e99c8c2e909eaa5"> 120</a></span>  <a class="code" href="classpcl_1_1_convolution.html#a26d8b40573f7af9c8e99c8c2e909eaa5">setBoundaryOptions</a>(<a class="code" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5a">BOUNDARY_OPTIONS_ENUM</a> boundary_options)</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  {</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  boundary_options_ = boundary_options;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  }</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"></span> </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> /** \brief Performs 2D convolution of the input point cloud with the kernel.</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> * Uses clamp as the default boundary option.</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"> * \param[out] output Output point cloud passed by reference</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="classpcl_1_1_convolution.html#ad67fdb49fef519511a8332271f1ae18d">filter</a>(<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointT></a>& output);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> /** \brief This is an over-ride function for the pcl::Filter interface. */</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_convolution.html#aff1e33e44370369b203496ebe7e0a63c"> 135</a></span>  <a class="code" href="classpcl_1_1_convolution.html#aff1e33e44370369b203496ebe7e0a63c">applyFilter</a>(<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointT></a>&)<span class="keyword"> override</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="keyword"> </span>{}</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="keyword">private</span>:</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5a">BOUNDARY_OPTIONS_ENUM</a> boundary_options_;</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointT></a> kernel_;</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> };</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> } <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="preprocessor">#include <pcl/2d/impl/convolution.hpp></span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> POINT_CLOUD_REGISTER_POINT_STRUCT(<a class="code" href="structpcl_1_1_point_x_y_z_i_edge.html">pcl::PointXYZIEdge</a>, <span class="comment">//</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  (<span class="keywordtype">float</span>, x, x) <span class="comment">//</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  (<span class="keywordtype">float</span>, y, y) <span class="comment">//</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  (<span class="keywordtype">float</span>, z, z) <span class="comment">//</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  (<span class="keywordtype">float</span>, magnitude, magnitude) <span class="comment">//</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  (<span class="keywordtype">float</span>, direction, direction) <span class="comment">//</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  (<span class="keywordtype">float</span>, magnitude_x, magnitude_x) <span class="comment">//</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  (<span class="keywordtype">float</span>, magnitude_y, magnitude_y)) <span class="comment">//</span></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html"><div class="ttname"><a href="classpcl_1_1_convolution.html">pcl::Convolution</a></div><div class="ttdoc">A 2D convolution class.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00060">convolution.h:60</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_a26d8b40573f7af9c8e99c8c2e909eaa5"><div class="ttname"><a href="classpcl_1_1_convolution.html#a26d8b40573f7af9c8e99c8c2e909eaa5">pcl::Convolution::setBoundaryOptions</a></div><div class="ttdeci">void setBoundaryOptions(BOUNDARY_OPTIONS_ENUM boundary_options)</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00120">convolution.h:120</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_a719c1d87a81bb39bc43786ab8236d785"><div class="ttname"><a href="classpcl_1_1_convolution.html#a719c1d87a81bb39bc43786ab8236d785">pcl::Convolution::Convolution</a></div><div class="ttdeci">Convolution()</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00104">convolution.h:104</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_aa01e1f87e25159e58864e6419ca12e5a"><div class="ttname"><a href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5a">pcl::Convolution::BOUNDARY_OPTIONS_ENUM</a></div><div class="ttdeci">BOUNDARY_OPTIONS_ENUM</div><div class="ttdoc">Extra pixels are added to the input image so that convolution can be performed over the entire image.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00098">convolution.h:98</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_aa01e1f87e25159e58864e6419ca12e5aa5f63c128a95850697e69869afa2acc78"><div class="ttname"><a href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aa5f63c128a95850697e69869afa2acc78">pcl::Convolution::BOUNDARY_OPTION_ZERO_PADDING</a></div><div class="ttdeci">@ BOUNDARY_OPTION_ZERO_PADDING</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00102">convolution.h:101</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_aa01e1f87e25159e58864e6419ca12e5aa9c46845ab1ec319b4c18993773f1d1b4"><div class="ttname"><a href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aa9c46845ab1ec319b4c18993773f1d1b4">pcl::Convolution::BOUNDARY_OPTION_MIRROR</a></div><div class="ttdeci">@ BOUNDARY_OPTION_MIRROR</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00100">convolution.h:100</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_aa01e1f87e25159e58864e6419ca12e5aad83d4305d392abf17525a35d2ace89ec"><div class="ttname"><a href="classpcl_1_1_convolution.html#aa01e1f87e25159e58864e6419ca12e5aad83d4305d392abf17525a35d2ace89ec">pcl::Convolution::BOUNDARY_OPTION_CLAMP</a></div><div class="ttdeci">@ BOUNDARY_OPTION_CLAMP</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00099">convolution.h:99</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_abd56054085b145cba9e22eac32f49ad3"><div class="ttname"><a href="classpcl_1_1_convolution.html#abd56054085b145cba9e22eac32f49ad3">pcl::Convolution::setKernel</a></div><div class="ttdeci">void setKernel(const pcl::PointCloud< PointT > &kernel)</div><div class="ttdoc">Sets the kernel to be used for convolution.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00110">convolution.h:110</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_ad67fdb49fef519511a8332271f1ae18d"><div class="ttname"><a href="classpcl_1_1_convolution.html#ad67fdb49fef519511a8332271f1ae18d">pcl::Convolution::filter</a></div><div class="ttdeci">void filter(pcl::PointCloud< PointT > &output)</div><div class="ttdoc">Performs 2D convolution of the input point cloud with the kernel.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2impl_2convolution_8hpp_source.html#l00046">convolution.hpp:46</a></div></div>
<div class="ttc" id="aclasspcl_1_1_convolution_html_aff1e33e44370369b203496ebe7e0a63c"><div class="ttname"><a href="classpcl_1_1_convolution.html#aff1e33e44370369b203496ebe7e0a63c">pcl::Convolution::applyFilter</a></div><div class="ttdeci">void applyFilter(pcl::PointCloud< PointT > &) override</div><div class="ttdoc">This is an over-ride function for the pcl::Filter interface.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00135">convolution.h:135</a></div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class.</div><div class="ttdef"><b>Definition:</b> <a href="filters_2include_2pcl_2filters_2filter_8h_source.html#l00080">filter.h:81</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00172">point_cloud.h:173</a></div></div>
<div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel</a></div><div class="ttdef"><b>Definition:</b> <a href="kernel_8h_source.html#l00046">kernel.h:46</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div><div class="ttdoc">Defines all the PCL implemented PointT point type structures.</div></div>
<div class="ttc" id="agroup__common_html_ga35846236568f16ca7fa07d958966e12c"><div class="ttname"><a href="group__common.html#ga35846236568f16ca7fa07d958966e12c">PCL_MAKE_ALIGNED_OPERATOR_NEW</a></div><div class="ttdeci">#define PCL_MAKE_ALIGNED_OPERATOR_NEW</div><div class="ttdoc">Macro to signal a class requires a custom allocator.</div><div class="ttdef"><b>Definition:</b> <a href="memory_8h_source.html#l00086">memory.h:86</a></div></div>
<div class="ttc" id="amemory_8h_html"><div class="ttname"><a href="memory_8h.html">memory.h</a></div><div class="ttdoc">Defines functions, macros and traits for allocating and using memory.</div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="apcl__macros_8h_html"><div class="ttname"><a href="pcl__macros_8h.html">pcl_macros.h</a></div><div class="ttdoc">Defines all the PCL and non-PCL macros used.</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_edge_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i_edge.html">pcl::PointXYZIEdge</a></div><div class="ttdoc">Point cloud containing edge information.</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00049">convolution.h:49</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_edge_html_a0af85e605cb11b6b0644540bb3fd76b0"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i_edge.html#a0af85e605cb11b6b0644540bb3fd76b0">pcl::PointXYZIEdge::magnitude</a></div><div class="ttdeci">float magnitude</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00051">convolution.h:51</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_edge_html_ab7a8cd5613937c7eb909a01f82a309dd"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i_edge.html#ab7a8cd5613937c7eb909a01f82a309dd">pcl::PointXYZIEdge::magnitude_y</a></div><div class="ttdeci">float magnitude_y</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00054">convolution.h:54</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_edge_html_acd0df99fe961fd1a18b5edd5cd372504"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i_edge.html#acd0df99fe961fd1a18b5edd5cd372504">pcl::PointXYZIEdge::direction</a></div><div class="ttdeci">float direction</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00052">convolution.h:52</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_edge_html_ad2c870e8fd353c496ffacbf3a2d051c7"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i_edge.html#ad2c870e8fd353c496ffacbf3a2d051c7">pcl::PointXYZIEdge::PCL_ADD_POINT4D</a></div><div class="ttdeci">PCL_ADD_POINT4D</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00050">convolution.h:50</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_edge_html_ae9e99849cb7f22beaae5314b6e4534f5"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i_edge.html#ae9e99849cb7f22beaae5314b6e4534f5">pcl::PointXYZIEdge::magnitude_x</a></div><div class="ttdeci">float magnitude_x</div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00053">convolution.h:53</a></div></div>
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