Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2012, Yani Ioannou <yani.ioannou@gmail.com> 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 #ifndef PCL_FILTERS_DON_H_ 00039 #define PCL_FILTERS_DON_H_ 00040 00041 #include <pcl/features/feature.h> 00042 00043 namespace pcl 00044 { 00045 /** \brief A Difference of Normals (DoN) scale filter implementation for point cloud data. 00046 * 00047 * For each point in the point cloud two normals estimated with a differing search radius (sigma_s, sigma_l) 00048 * are subtracted, the difference of these normals provides a scale-based feature which 00049 * can be further used to filter the point cloud, somewhat like the Difference of Guassians 00050 * in image processing, but instead on surfaces. Best results are had when the two search 00051 * radii are related as sigma_l=10*sigma_s, the octaves between the two search radii 00052 * can be though of as a filter bandwidth. For appropriate values and thresholds it 00053 * can be used for surface edge extraction. 00054 * 00055 * \attention The input normals given by setInputNormalsSmall and setInputNormalsLarge have 00056 * to match the input point cloud given by setInputCloud. This behavior is different than 00057 * feature estimation methods that extend FeatureFromNormals, which match the normals 00058 * with the search surface. 00059 * 00060 * \note For more information please see 00061 * <b>Yani Ioannou. Automatic Urban Modelling using Mobile Urban LIDAR Data. 00062 * Thesis (Master, Computing), Queen's University, March, 2010.</b> 00063 * 00064 * \author Yani Ioannou. 00065 * \ingroup features 00066 */ 00067 template <typename PointInT, typename PointNT, typename PointOutT> 00068 class DifferenceOfNormalsEstimation : public Feature<PointInT, PointOutT> 00069 { 00070 using Feature<PointInT, PointOutT>::getClassName; 00071 using Feature<PointInT, PointOutT>::feature_name_; 00072 using PCLBase<PointInT>::input_; 00073 typedef typename pcl::PointCloud<PointNT> PointCloudN; 00074 typedef typename PointCloudN::Ptr PointCloudNPtr; 00075 typedef typename PointCloudN::ConstPtr PointCloudNConstPtr; 00076 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00077 public: 00078 typedef boost::shared_ptr<DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT> > Ptr; 00079 typedef boost::shared_ptr<const DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT> > ConstPtr; 00080 00081 /** 00082 * Creates a new Difference of Normals filter. 00083 */ 00084 DifferenceOfNormalsEstimation () 00085 { 00086 feature_name_ = "DifferenceOfNormalsEstimation"; 00087 } 00088 00089 virtual ~DifferenceOfNormalsEstimation () 00090 { 00091 // 00092 } 00093 00094 /** 00095 * Set the normals calculated using a smaller search radius (scale) for the DoN operator. 00096 * @param normals the smaller radius (scale) of the DoN filter. 00097 */ 00098 inline void 00099 setNormalScaleSmall (const PointCloudNConstPtr &normals) 00100 { 00101 input_normals_small_ = normals; 00102 } 00103 00104 /** 00105 * Set the normals calculated using a larger search radius (scale) for the DoN operator. 00106 * @param normals the larger radius (scale) of the DoN filter. 00107 */ 00108 inline void 00109 setNormalScaleLarge (const PointCloudNConstPtr &normals) 00110 { 00111 input_normals_large_ = normals; 00112 } 00113 00114 /** 00115 * Computes the DoN vector for each point in the input point cloud and outputs the vector cloud to the given output. 00116 * @param output the cloud to output the DoN vector cloud to. 00117 */ 00118 virtual void 00119 computeFeature (PointCloudOut &output); 00120 00121 /** 00122 * Initialize for computation of features. 00123 * @return true if parameters (input normals, input) are sufficient to perform computation. 00124 */ 00125 virtual bool 00126 initCompute (); 00127 private: 00128 /** \brief Make the compute (&PointCloudOut); inaccessible from outside the class 00129 * \param[out] output the output point cloud 00130 */ 00131 void 00132 compute (PointCloudOut &) {} 00133 00134 ///The smallest radius (scale) used in the DoN filter. 00135 PointCloudNConstPtr input_normals_small_; 00136 ///The largest radius (scale) used in the DoN filter. 00137 PointCloudNConstPtr input_normals_large_; 00138 }; 00139 } 00140 00141 #ifdef PCL_NO_PRECOMPILE 00142 #include <pcl/features/impl/don.hpp> 00143 #endif 00144 00145 #endif // PCL_FILTERS_DON_H_