Point Cloud Library (PCL) 1.13.0
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don.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2012, Yani Ioannou <yani.ioannou@gmail.com>
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 */
38
39#pragma once
40
41#include <pcl/features/feature.h>
42
43namespace pcl
44{
45 /** \brief A Difference of Normals (DoN) scale filter implementation for point cloud data.
46 *
47 * For each point in the point cloud two normals estimated with a differing search radius (sigma_s, sigma_l)
48 * are subtracted, the difference of these normals provides a scale-based feature which
49 * can be further used to filter the point cloud, somewhat like the Difference of Guassians
50 * in image processing, but instead on surfaces. Best results are had when the two search
51 * radii are related as sigma_l=10*sigma_s, the octaves between the two search radii
52 * can be though of as a filter bandwidth. For appropriate values and thresholds it
53 * can be used for surface edge extraction.
54 *
55 * \attention The input normals given by setInputNormalsSmall and setInputNormalsLarge have
56 * to match the input point cloud given by setInputCloud. This behavior is different than
57 * feature estimation methods that extend FeatureFromNormals, which match the normals
58 * with the search surface.
59 *
60 * \note For more information please see
61 * <b>Yani Ioannou. Automatic Urban Modelling using Mobile Urban LIDAR Data.
62 * Thesis (Master, Computing), Queen's University, March, 2010.</b>
63 *
64 * \author Yani Ioannou.
65 * \ingroup features
66 */
67 template <typename PointInT, typename PointNT, typename PointOutT>
68 class DifferenceOfNormalsEstimation : public Feature<PointInT, PointOutT>
69 {
70 using Feature<PointInT, PointOutT>::getClassName;
71 using Feature<PointInT, PointOutT>::feature_name_;
72 using PCLBase<PointInT>::input_;
74 using PointCloudNPtr = typename PointCloudN::Ptr;
75 using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
76 using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
77 public:
78 using Ptr = shared_ptr<DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT> >;
79 using ConstPtr = shared_ptr<const DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT> >;
80
81 /**
82 * Creates a new Difference of Normals filter.
83 */
85 {
86 feature_name_ = "DifferenceOfNormalsEstimation";
87 }
88
89 ~DifferenceOfNormalsEstimation () override = default;
90
91 /**
92 * Set the normals calculated using a smaller search radius (scale) for the DoN operator.
93 * @param normals the smaller radius (scale) of the DoN filter.
94 */
95 inline void
96 setNormalScaleSmall (const PointCloudNConstPtr &normals)
97 {
98 input_normals_small_ = normals;
99 }
100
101 /**
102 * Set the normals calculated using a larger search radius (scale) for the DoN operator.
103 * @param normals the larger radius (scale) of the DoN filter.
104 */
105 inline void
106 setNormalScaleLarge (const PointCloudNConstPtr &normals)
107 {
108 input_normals_large_ = normals;
109 }
110
111 /**
112 * Computes the DoN vector for each point in the input point cloud and outputs the vector cloud to the given output.
113 * @param output the cloud to output the DoN vector cloud to.
114 */
115 void
116 computeFeature (PointCloudOut &output) override;
117
118 /**
119 * Initialize for computation of features.
120 * @return true if parameters (input normals, input) are sufficient to perform computation.
121 */
122 bool
123 initCompute () override;
124 private:
125 /** \brief Make the compute (&PointCloudOut); inaccessible from outside the class
126 * \param[out] output the output point cloud
127 */
128 void
129 compute (PointCloudOut &) {}
130
131 ///The smallest radius (scale) used in the DoN filter.
132 PointCloudNConstPtr input_normals_small_;
133 ///The largest radius (scale) used in the DoN filter.
134 PointCloudNConstPtr input_normals_large_;
135 };
136}
137
138#ifdef PCL_NO_PRECOMPILE
139#include <pcl/features/impl/don.hpp>
140#endif
A Difference of Normals (DoN) scale filter implementation for point cloud data.
Definition don.h:69
void setNormalScaleLarge(const PointCloudNConstPtr &normals)
Set the normals calculated using a larger search radius (scale) for the DoN operator.
Definition don.h:106
DifferenceOfNormalsEstimation()
Creates a new Difference of Normals filter.
Definition don.h:84
bool initCompute() override
Initialize for computation of features.
Definition don.hpp:44
shared_ptr< DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition don.h:78
void computeFeature(PointCloudOut &output) override
Computes the DoN vector for each point in the input point cloud and outputs the vector cloud to the g...
Definition don.hpp:85
void setNormalScaleSmall(const PointCloudNConstPtr &normals)
Set the normals calculated using a smaller search radius (scale) for the DoN operator.
Definition don.h:96
shared_ptr< const DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition don.h:79
~DifferenceOfNormalsEstimation() override=default
Feature represents the base feature class.
Definition feature.h:107
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
std::string feature_name_
The feature name.
Definition feature.h:220
PCL base class.
Definition pcl_base.h:70
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
shared_ptr< PointCloud< PointNT > > Ptr
shared_ptr< const PointCloud< PointNT > > ConstPtr