#include <pcl/2d/morphology.h>

Inheritance diagram for pcl::Morphology< PointT >:

Collaboration diagram for pcl::Morphology< PointT >:

Public Types
enum	MORPHOLOGICAL_OPERATOR_TYPE { EROSION_GRAY , DILATION_GRAY , OPENING_GRAY , CLOSING_GRAY , EROSION_BINARY , DILATION_BINARY , OPENING_BINARY , CLOSING_BINARY }

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	Morphology ()=default

void	openingBinary (pcl::PointCloud< PointT > &output)
	This function performs erosion followed by dilation. More...

void	closingBinary (pcl::PointCloud< PointT > &output)
	This function performs dilation followed by erosion. More...

void	erosionBinary (pcl::PointCloud< PointT > &output)
	Binary dilation is similar to a logical disjunction of sets. More...

void	dilationBinary (pcl::PointCloud< PointT > &output)
	Binary erosion is similar to a logical addition of sets. More...

void	openingGray (pcl::PointCloud< PointT > &output)
	Grayscale erosion followed by dilation. More...

void	closingGray (pcl::PointCloud< PointT > &output)
	Grayscale dilation followed by erosion. More...

void	erosionGray (pcl::PointCloud< PointT > &output)
	Takes the min of the pixels where kernel is 1. More...

void	dilationGray (pcl::PointCloud< PointT > &output)
	Takes the max of the pixels where kernel is 1. More...

void	subtractionBinary (pcl::PointCloud< PointT > &output, const pcl::PointCloud< PointT > &input1, const pcl::PointCloud< PointT > &input2)
	Set operation output = input1 - input2. More...

void	unionBinary (pcl::PointCloud< PointT > &output, const pcl::PointCloud< PointT > &input1, const pcl::PointCloud< PointT > &input2)
	Set operation $output = input1 \cup input2$ . More...

void	intersectionBinary (pcl::PointCloud< PointT > &output, const pcl::PointCloud< PointT > &input1, const pcl::PointCloud< PointT > &input2)
	Set operation $output = input1 \cap input2$ . More...

void	structuringElementCircular (pcl::PointCloud< PointT > &kernel, const int radius)
	Creates a circular structing element. More...

void	structuringElementRectangle (pcl::PointCloud< PointT > &kernel, const int height, const int width)
	Creates a rectangular structing element of size height x width. More...

void	applyMorphologicalOperation (pcl::PointCloud< PointT > &output)

void	setStructuringElement (const PointCloudInPtr &structuring_element)

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Public Attributes
MORPHOLOGICAL_OPERATOR_TYPE	operator_type

Additional Inherited Members
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointT>
class pcl::Morphology< PointT >

Definition at line 45 of file morphology.h.

Member Enumeration Documentation

◆ MORPHOLOGICAL_OPERATOR_TYPE

template<typename PointT >

enum pcl::Morphology::MORPHOLOGICAL_OPERATOR_TYPE

Enumerator
EROSION_GRAY
DILATION_GRAY
OPENING_GRAY
CLOSING_GRAY
EROSION_BINARY
DILATION_BINARY
OPENING_BINARY
CLOSING_BINARY

Definition at line 177 of file morphology.h.

Constructor & Destructor Documentation

◆ Morphology()

template<typename PointT >

pcl::Morphology< PointT >::Morphology ( )

default

Member Function Documentation

◆ applyMorphologicalOperation()

template<typename PointT >

void pcl::Morphology< PointT >::applyMorphologicalOperation ( pcl::PointCloud< PointT > & output )

Parameters

[out] output Output point cloud passed by reference

◆ closingBinary()

template<typename PointT >

void pcl::Morphology< PointT >::closingBinary ( pcl::PointCloud< PointT > & output )

This function performs dilation followed by erosion.

It is useful for filling up (holes/cracks/small discontinuities) in a binary segmented region

Parameters

[out] output Output point cloud passed by reference

Definition at line 154 of file morphology.hpp.

◆ closingGray()

template<typename PointT >

void pcl::Morphology< PointT >::closingGray ( pcl::PointCloud< PointT > & output )

Grayscale dilation followed by erosion.

This is used to remove small dark artifacts from the image. Bright features or large dark features are relatively undisturbed.

Parameters

[out] output Output point cloud passed by reference

Definition at line 259 of file morphology.hpp.

◆ dilationBinary()

template<typename PointT >

void pcl::Morphology< PointT >::dilationBinary ( pcl::PointCloud< PointT > & output )

Binary erosion is similar to a logical addition of sets.

At each pixel having value 1, if at least one pixel in the structuring element is 1 and the corresponding point in the input image is 1, the center pixel is set to 1. Otherwise, it is set to 0.

Parameters

[out] output Output point cloud passed by reference

Definition at line 98 of file morphology.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

◆ dilationGray()

template<typename PointT >

void pcl::Morphology< PointT >::dilationGray ( pcl::PointCloud< PointT > & output )

Takes the max of the pixels where kernel is 1.

Parameters

[out] output Output point cloud passed by reference

Definition at line 206 of file morphology.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

◆ erosionBinary()

template<typename PointT >

void pcl::Morphology< PointT >::erosionBinary ( pcl::PointCloud< PointT > & output )

Binary dilation is similar to a logical disjunction of sets.

At each pixel having value 1, if for all pixels in the structuring element having value 1, the corresponding pixels in the input image are also 1, the center pixel is set to 1. Otherwise, it is set to 0.

Parameters

[out] output Output point cloud passed by reference

Definition at line 47 of file morphology.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

◆ erosionGray()

template<typename PointT >

void pcl::Morphology< PointT >::erosionGray ( pcl::PointCloud< PointT > & output )

Takes the min of the pixels where kernel is 1.

Parameters

[out] output Output point cloud passed by reference

Definition at line 164 of file morphology.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

◆ intersectionBinary()

template<typename PointT >

void pcl::Morphology< PointT >::intersectionBinary	(	pcl::PointCloud< PointT > &	output,
		const pcl::PointCloud< PointT > &	input1,
		const pcl::PointCloud< PointT > &	input2
	)

Set operation $output = input1 \cap input2$ .

Parameters

[out]	output	Output point cloud passed by reference
[in]	input1
[in]	input2

Definition at line 309 of file morphology.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ openingBinary()

template<typename PointT >

void pcl::Morphology< PointT >::openingBinary ( pcl::PointCloud< PointT > & output )

This function performs erosion followed by dilation.

It is useful for removing noise in the form of small blobs and patches.

Parameters

[out] output Output point cloud passed by reference

Definition at line 143 of file morphology.hpp.

◆ openingGray()

template<typename PointT >

void pcl::Morphology< PointT >::openingGray ( pcl::PointCloud< PointT > & output )

Grayscale erosion followed by dilation.

This is used to remove small bright artifacts from the image. Large bright objects are relatively undisturbed.

Parameters

[out] output Output point cloud passed by reference

Definition at line 249 of file morphology.hpp.

◆ setStructuringElement()

template<typename PointT >

void pcl::Morphology< PointT >::setStructuringElement ( const PointCloudInPtr & structuring_element )

Parameters

[in] structuring_element The structuring element to be used for the morphological operation

Definition at line 362 of file morphology.hpp.

◆ structuringElementCircular()

template<typename PointT >

void pcl::Morphology< PointT >::structuringElementCircular	(	pcl::PointCloud< PointT > &	kernel,
		const int	radius
	)

Creates a circular structing element.

The size of the kernel created is 2*radius x 2*radius. Center of the structuring element is the center of the circle. All values lying on the circle are 1 and the others are 0.

Parameters

[out]	kernel	structuring element kernel passed by reference
[in]	radius	Radius of the circular structuring element.

Definition at line 329 of file morphology.hpp.

◆ structuringElementRectangle()

template<typename PointT >

void pcl::Morphology< PointT >::structuringElementRectangle	(	pcl::PointCloud< PointT > &	kernel,
		const int	height,
		const int	width
	)

Creates a rectangular structing element of size height x width.

All values are 1.

Parameters

[out]	kernel	structuring element kernel passed by reference
[in]	height	height number of rows in the structuring element
[in]	width	number of columns in the structuring element

Definition at line 349 of file morphology.hpp.

◆ subtractionBinary()

template<typename PointT >

void pcl::Morphology< PointT >::subtractionBinary	(	pcl::PointCloud< PointT > &	output,
		const pcl::PointCloud< PointT > &	input1,
		const pcl::PointCloud< PointT > &	input2
	)

Set operation output = input1 - input2.

Parameters

[out]	output	Output point cloud passed by reference
[in]	input1
[in]	input2

Definition at line 269 of file morphology.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ unionBinary()

template<typename PointT >

void pcl::Morphology< PointT >::unionBinary	(	pcl::PointCloud< PointT > &	output,
		const pcl::PointCloud< PointT > &	input1,
		const pcl::PointCloud< PointT > &	input2
	)

Set operation $output = input1 \cup input2$ .

Parameters

[out]	output	Output point cloud passed by reference
[in]	input1
[in]	input2

Definition at line 289 of file morphology.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Member Data Documentation

◆ operator_type

template<typename PointT >

MORPHOLOGICAL_OPERATOR_TYPE pcl::Morphology< PointT >::operator_type

Definition at line 188 of file morphology.h.

The documentation for this class was generated from the following files:

pcl/2d/morphology.h
pcl/2d/impl/morphology.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<typename PointT> class pcl::Morphology< PointT >

Member Enumeration Documentation

◆ MORPHOLOGICAL_OPERATOR_TYPE

Constructor & Destructor Documentation

◆ Morphology()

Member Function Documentation

◆ applyMorphologicalOperation()

◆ closingBinary()

◆ closingGray()

◆ dilationBinary()

◆ dilationGray()

◆ erosionBinary()

◆ erosionGray()

◆ intersectionBinary()

◆ openingBinary()

◆ openingGray()

◆ setStructuringElement()

◆ structuringElementCircular()

◆ structuringElementRectangle()

◆ subtractionBinary()

◆ unionBinary()

Member Data Documentation

◆ operator_type

template<typename PointT>
class pcl::Morphology< PointT >