42#include <pcl/common/gaussian.h>
47template <
typename Po
intT>
void
50 const Eigen::VectorXf&
kernel,
55 int radius =
kernel.size () / 2.0;
64 for(
int j = 0; j <
input.height; j++)
66 for (i = 0 ; i < radius ; i++)
69 for ( ; i <
input.width - radius ; i++) {
71 for (
int k =
kernel_width, l = i - radius; k >= 0 ; k--, l++)
75 for ( ; i <
input.width ; i++)
80template <
typename Po
intT>
void
83 const Eigen::VectorXf&
kernel,
88 int radius =
kernel.size () / 2.0;
97 for(
int i = 0; i <
input.width; i++)
99 for (j = 0 ; j < radius ; j++)
102 for ( ; j <
input.height - radius ; j++) {
104 for (
int k =
kernel_width, l = j - radius ; k >= 0 ; k--, l++)
110 for ( ; j <
input.height ; j++)
Iterator class for point clouds with or without given indices.
void convolveCols(const pcl::PointCloud< float > &input, const Eigen::VectorXf &kernel, pcl::PointCloud< float > &output) const
Convolve a float image columns by a given kernel.
void convolveRows(const pcl::PointCloud< float > &input, const Eigen::VectorXf &kernel, pcl::PointCloud< float > &output) const
Convolve a float image rows by a given kernel.
A point structure representing Euclidean xyz coordinates, and the RGB color.