Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/features/include/pcl/features/don.h
00001 /*
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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_