207 lines
7.0 KiB
C
207 lines
7.0 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/pcl_base.h>
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namespace pcl {
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template <typename PointT>
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class Morphology : public PCLBase<PointT> {
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private:
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using PointCloudIn = pcl::PointCloud<PointT>;
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using PointCloudInPtr = typename PointCloudIn::Ptr;
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PointCloudInPtr structuring_element_;
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public:
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using PCLBase<PointT>::input_;
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Morphology() {}
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/** \brief This function performs erosion followed by dilation.
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* It is useful for removing noise in the form of small blobs and patches.
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* \param[out] output Output point cloud passed by reference
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*/
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void
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openingBinary(pcl::PointCloud<PointT>& output);
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/** \brief This function performs dilation followed by erosion.
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* It is useful for filling up (holes/cracks/small discontinuities) in a binary
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* segmented region
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* \param[out] output Output point cloud passed by reference
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*/
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void
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closingBinary(pcl::PointCloud<PointT>& output);
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/** \brief Binary dilation is similar to a logical disjunction of sets.
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* At each pixel having value 1, if for all pixels in the structuring element having
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* value 1, the corresponding pixels in the input image are also 1, the center pixel
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* is set to 1. Otherwise, it is set to 0.
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*
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* \param[out] output Output point cloud passed by reference
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*/
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void
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erosionBinary(pcl::PointCloud<PointT>& output);
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/** \brief Binary erosion is similar to a logical addition of sets.
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* At each pixel having value 1, if at least one pixel in the structuring element is
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* 1 and the corresponding point in the input image is 1, the center pixel is set
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* to 1. Otherwise, it is set to 0.
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*
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* \param[out] output Output point cloud passed by reference
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*/
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void
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dilationBinary(pcl::PointCloud<PointT>& output);
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/** \brief Grayscale erosion followed by dilation.
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* This is used to remove small bright artifacts from the image. Large bright objects
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* are relatively undisturbed.
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*
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* \param[out] output Output point cloud passed by reference
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*/
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void
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openingGray(pcl::PointCloud<PointT>& output);
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/** \brief Grayscale dilation followed by erosion.
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* This is used to remove small dark artifacts from the image. Bright features or
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* large dark features are relatively undisturbed.
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*
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* \param[out] output Output point cloud passed by reference
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*/
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void
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closingGray(pcl::PointCloud<PointT>& output);
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/** \brief Takes the min of the pixels where kernel is 1
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* \param[out] output Output point cloud passed by reference
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*/
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void
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erosionGray(pcl::PointCloud<PointT>& output);
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/** \brief Takes the max of the pixels where kernel is 1
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* \param[out] output Output point cloud passed by reference
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*/
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void
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dilationGray(pcl::PointCloud<PointT>& output);
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/** \brief Set operation
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* output = input1 - input2
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* \param[out] output Output point cloud passed by reference
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* \param[in] input1
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* \param[in] input2
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*/
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void
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subtractionBinary(pcl::PointCloud<PointT>& output,
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const pcl::PointCloud<PointT>& input1,
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const pcl::PointCloud<PointT>& input2);
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/** \brief Set operation
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* \f$output = input1 \cup input2\f$
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* \param[out] output Output point cloud passed by reference
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* \param[in] input1
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* \param[in] input2
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*/
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void
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unionBinary(pcl::PointCloud<PointT>& output,
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const pcl::PointCloud<PointT>& input1,
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const pcl::PointCloud<PointT>& input2);
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/** \brief Set operation \f$ output = input1 \cap input2 \f$
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* \param[out] output Output point cloud passed by reference
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* \param[in] input1
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* \param[in] input2
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*/
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void
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intersectionBinary(pcl::PointCloud<PointT>& output,
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const pcl::PointCloud<PointT>& input1,
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const pcl::PointCloud<PointT>& input2);
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/** \brief Creates a circular structing element. The size of the kernel created is
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* 2*radius x 2*radius. Center of the structuring element is the center of the circle.
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* All values lying on the circle are 1 and the others are 0.
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*
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* \param[out] kernel structuring element kernel passed by reference
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* \param[in] radius Radius of the circular structuring element.
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*/
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void
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structuringElementCircular(pcl::PointCloud<PointT>& kernel, const int radius);
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/** \brief Creates a rectangular structing element of size height x width. *
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* All values are 1.
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*
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* \param[out] kernel structuring element kernel passed by reference
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* \param[in] height height number of rows in the structuring element
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* \param[in] width number of columns in the structuring element
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*
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*/
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void
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structuringElementRectangle(pcl::PointCloud<PointT>& kernel,
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const int height,
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const int width);
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enum MORPHOLOGICAL_OPERATOR_TYPE {
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EROSION_GRAY,
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DILATION_GRAY,
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OPENING_GRAY,
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CLOSING_GRAY,
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EROSION_BINARY,
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DILATION_BINARY,
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OPENING_BINARY,
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CLOSING_BINARY
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};
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MORPHOLOGICAL_OPERATOR_TYPE operator_type;
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/**
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* \param[out] output Output point cloud passed by reference
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*/
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void
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applyMorphologicalOperation(pcl::PointCloud<PointT>& output);
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/**
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* \param[in] structuring_element The structuring element to be used for the
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* morphological operation
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*/
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void
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setStructuringElement(const PointCloudInPtr& structuring_element);
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};
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} // namespace pcl
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#include <pcl/2d/impl/morphology.hpp>
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