Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Apply clang-format to 2d module #3343

Merged
merged 2 commits into from
Sep 15, 2019
Merged

Apply clang-format to 2d module #3343

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
7f02b6b
Apply clang-format to 2d module
taketwo Sep 13, 2019
d64242b
Address review comments
taketwo Sep 13, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
202 changes: 98 additions & 104 deletions 2d/include/pcl/2d/convolution.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,122 +37,116 @@

#pragma once

#include <pcl/filters/filter.h>
#include <pcl/pcl_base.h>
#include <pcl/pcl_macros.h>
#include <pcl/filters/filter.h>
#include <pcl/point_types.h>

namespace pcl
{
/**
* This typedef is used to represent a point cloud containing edge information
*/
struct EIGEN_ALIGN16 PointXYZIEdge
{
PCL_ADD_POINT4D; // preferred way of adding a XYZ+padding
float magnitude;
float direction;
float magnitude_x;
float magnitude_y;
PCL_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
}; // enforce SSE padding for correct memory alignment
namespace pcl {

/** \brief A 2D convolution class. */
template <typename PointT>
class Convolution : public Filter<PointT>
{
public:
using Filter<PointT>::input_;
/// Point cloud containing edge information.
struct EIGEN_ALIGN16 PointXYZIEdge {
PCL_ADD_POINT4D; // preferred way of adding a XYZ+padding
float magnitude;
float direction;
float magnitude_x;
float magnitude_y;
PCL_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
}; // enforce SSE padding for correct memory alignment

/**
* Extra pixels are added to the input image so that convolution can be performed over the entire image.
*
* (kernel_height/2) rows are added before the first row and after the last row
* (kernel_width/2) columns are added before the first column and after the last column
* border options define what values are set for these extra rows and columns
*
* Assume that the three rows of right edge of the image looks like this:
* .. 3 2 1
* .. 6 5 4
* .. 9 8 7
*
* BOUNDARY_OPTION_CLAMP : the extra pixels are set to the pixel value of the boundary pixel
* This option makes it seem as if it were:
* .. 3 2 1| 1 1 1 ..
* .. 6 5 4| 4 4 4 ..
* .. 9 8 7| 7 7 7 ..
*
* BOUNDARY_OPTION_MIRROR : the input image is mirrored at the boundary.
* This option makes it seem as if it were:
* .. 3 2 1| 1 2 3 ..
* .. 6 5 4| 4 5 6 ..
* .. 9 8 7| 7 8 9 ..
*
* BOUNDARY_OPTION_ZERO_PADDING : the extra pixels are simply set to 0
* This option makes it seem as if it were:
* .. 3 2 1| 0 0 0 ..
* .. 6 5 4| 0 0 0 ..
* .. 9 8 7| 0 0 0 ..
*
* Note that the input image is not actually extended in size. Instead, based on these options,
* the convolution is performed differently at the border pixels.
*/
enum BOUNDARY_OPTIONS_ENUM
{
BOUNDARY_OPTION_CLAMP,
BOUNDARY_OPTION_MIRROR,
BOUNDARY_OPTION_ZERO_PADDING
};
/// A 2D convolution class.
template <typename PointT>
class Convolution : public Filter<PointT> {
public:
using Filter<PointT>::input_;

Convolution ()
{
boundary_options_ = BOUNDARY_OPTION_CLAMP;
}
/**
* Extra pixels are added to the input image so that convolution can be performed over
* the entire image.
*
* (kernel_height/2) rows are added before the first row and after the last row
* (kernel_width/2) columns are added before the first column and after the last
* column border options define what values are set for these extra rows and columns
*
* Assume that the three rows of right edge of the image looks like this:
* .. 3 2 1
* .. 6 5 4
* .. 9 8 7
*
* BOUNDARY_OPTION_CLAMP : the extra pixels are set to the pixel value of the boundary
* pixel. This option makes it seem as if it were:
* .. 3 2 1| 1 1 1 ..
* .. 6 5 4| 4 4 4 ..
* .. 9 8 7| 7 7 7 ..
*
* BOUNDARY_OPTION_MIRROR : the input image is mirrored at the boundary. This option
* makes it seem as if it were:
* .. 3 2 1| 1 2 3 ..
* .. 6 5 4| 4 5 6 ..
* .. 9 8 7| 7 8 9 ..
*
* BOUNDARY_OPTION_ZERO_PADDING : the extra pixels are simply set to 0. This option
* makes it seem as if it were:
* .. 3 2 1| 0 0 0 ..
* .. 6 5 4| 0 0 0 ..
* .. 9 8 7| 0 0 0 ..
*
* Note that the input image is not actually extended in size. Instead, based on these
* options, the convolution is performed differently at the border pixels.
*/
enum BOUNDARY_OPTIONS_ENUM {
BOUNDARY_OPTION_CLAMP,
BOUNDARY_OPTION_MIRROR,
BOUNDARY_OPTION_ZERO_PADDING
};

/** \brief Sets the kernel to be used for convolution
* \param[in] kernel convolution kernel passed by reference
*/
inline void
setKernel (const pcl::PointCloud<PointT> &kernel)
{
kernel_ = kernel;
}
Convolution() { boundary_options_ = BOUNDARY_OPTION_CLAMP; }

/**
* \param[in] boundary_options enum indicating the boundary options to be used for convolution
*/
inline void
setBoundaryOptions (BOUNDARY_OPTIONS_ENUM boundary_options)
{
boundary_options_ = boundary_options;
}
/** \brief Sets the kernel to be used for convolution
* \param[in] kernel convolution kernel passed by reference
*/
inline void
setKernel(const pcl::PointCloud<PointT>& kernel)
{
kernel_ = kernel;
}

/**
* \param[in] boundary_options enum indicating the boundary options to be used for
* convolution
*/
inline void
setBoundaryOptions(BOUNDARY_OPTIONS_ENUM boundary_options)
{
boundary_options_ = boundary_options;
}

/** \brief Performs 2D convolution of the input point cloud with the kernel.
* Uses clamp as the default boundary option.
* \param[out] output Output point cloud passed by reference
*/
void
filter (pcl::PointCloud<PointT> &output);
/** \brief Performs 2D convolution of the input point cloud with the kernel.
* Uses clamp as the default boundary option.
* \param[out] output Output point cloud passed by reference
*/
void
filter(pcl::PointCloud<PointT>& output);

protected:
/** \brief This is an over-ride function for the pcl::Filter interface. */
void
applyFilter (pcl::PointCloud<PointT> &) override {}
protected:
/** \brief This is an over-ride function for the pcl::Filter interface. */
void
applyFilter(pcl::PointCloud<PointT>&) override
{}

private:
BOUNDARY_OPTIONS_ENUM boundary_options_;
pcl::PointCloud<PointT> kernel_;
};
}
private:
BOUNDARY_OPTIONS_ENUM boundary_options_;
pcl::PointCloud<PointT> kernel_;
};
} // namespace pcl

#include <pcl/2d/impl/convolution.hpp>

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZIEdge,
(float, x, x)
(float, y, y)
(float, z, z)
(float, magnitude, magnitude)
(float, direction, direction)
(float, magnitude_x, magnitude_x)
(float, magnitude_y, magnitude_y)
)
POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::PointXYZIEdge, //
(float, x, x) //
(float, y, y) //
(float, z, z) //
(float, magnitude, magnitude) //
(float, direction, direction) //
(float, magnitude_x, magnitude_x) //
(float, magnitude_y, magnitude_y)) //
Loading