Commit f99cc7ef authored by Neuberger Hajnalka's avatar Neuberger Hajnalka

Tényleg működődő pcl projekt

parent d9ad6d62

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......@@ -329,3 +329,4 @@ ASALocalRun/
# MFractors (Xamarin productivity tool) working folder
.mfractor/
/pcl/Dependencies/3rdParty/
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef PCL_2D_CONVOLUTION_IMPL_HPP
#define PCL_2D_CONVOLUTION_IMPL_HPP
//////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::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;
else
intensity += kernel_ (l, k).intensity * ((*input_)(jlkw, ikkh).intensity);
}
}
output (j, i).intensity = intensity;
}
}
break;
}
} // switch
}
#endif
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef PCL_2D_KERNEL_H_
#define PCL_2D_KERNEL_H_
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
namespace pcl
{
template<typename PointT>
class kernel
{
public: