Point Cloud Library (PCL)  1.9.1-dev
don.h
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38 
39 #pragma once
40 
41 #include <pcl/features/feature.h>
42 
43 namespace 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  {
74  typedef typename PointCloudN::Ptr PointCloudNPtr;
75  typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
77  public:
78  typedef boost::shared_ptr<DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT> > Ptr;
79  typedef boost::shared_ptr<const DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
80 
81  /**
82  * Creates a new Difference of Normals filter.
83  */
85  {
86  feature_name_ = "DifferenceOfNormalsEstimation";
87  }
88 
90  {
91  //
92  }
93 
94  /**
95  * Set the normals calculated using a smaller search radius (scale) for the DoN operator.
96  * @param normals the smaller radius (scale) of the DoN filter.
97  */
98  inline void
99  setNormalScaleSmall (const PointCloudNConstPtr &normals)
100  {
101  input_normals_small_ = normals;
102  }
103 
104  /**
105  * Set the normals calculated using a larger search radius (scale) for the DoN operator.
106  * @param normals the larger radius (scale) of the DoN filter.
107  */
108  inline void
109  setNormalScaleLarge (const PointCloudNConstPtr &normals)
110  {
111  input_normals_large_ = normals;
112  }
113 
114  /**
115  * Computes the DoN vector for each point in the input point cloud and outputs the vector cloud to the given output.
116  * @param output the cloud to output the DoN vector cloud to.
117  */
118  void
119  computeFeature (PointCloudOut &output) override;
120 
121  /**
122  * Initialize for computation of features.
123  * @return true if parameters (input normals, input) are sufficient to perform computation.
124  */
125  bool
126  initCompute () override;
127  private:
128  /** \brief Make the compute (&PointCloudOut); inaccessible from outside the class
129  * \param[out] output the output point cloud
130  */
131  void
132  compute (PointCloudOut &) {}
133 
134  ///The smallest radius (scale) used in the DoN filter.
135  PointCloudNConstPtr input_normals_small_;
136  ///The largest radius (scale) used in the DoN filter.
137  PointCloudNConstPtr input_normals_large_;
138  };
139 }
140 
141 #ifdef PCL_NO_PRECOMPILE
142 #include <pcl/features/impl/don.hpp>
143 #endif
void setNormalScaleLarge(const PointCloudNConstPtr &normals)
Set the normals calculated using a larger search radius (scale) for the DoN operator.
Definition: don.h:109
std::string feature_name_
The feature name.
Definition: feature.h:221
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
boost::shared_ptr< const DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition: don.h:79
void setNormalScaleSmall(const PointCloudNConstPtr &normals)
Set the normals calculated using a smaller search radius (scale) for the DoN operator.
Definition: don.h:99
boost::shared_ptr< PointCloud< PointNT > > Ptr
Definition: point_cloud.h:427
PCL base class.
Definition: pcl_base.h:68
boost::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
boost::shared_ptr< const PointCloud< PointNT > > ConstPtr
Definition: point_cloud.h:428
A Difference of Normals (DoN) scale filter implementation for point cloud data.
Definition: don.h:68
bool initCompute() override
Initialize for computation of features.
Definition: don.hpp:44
Feature represents the base feature class.
Definition: feature.h:104
DifferenceOfNormalsEstimation()
Creates a new Difference of Normals filter.
Definition: don.h:84