Point Cloud Library (PCL)  1.12.1-dev
morphology.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_base.h>
41 
42 namespace pcl {
43 
44 template <typename PointT>
45 class Morphology : public PCLBase<PointT> {
46 private:
48  using PointCloudInPtr = typename PointCloudIn::Ptr;
49 
50  PointCloudInPtr structuring_element_;
51 
52 public:
54 
55  Morphology() = default;
56 
57  /** \brief This function performs erosion followed by dilation.
58  * It is useful for removing noise in the form of small blobs and patches.
59  * \param[out] output Output point cloud passed by reference
60  */
61  void
63 
64  /** \brief This function performs dilation followed by erosion.
65  * It is useful for filling up (holes/cracks/small discontinuities) in a binary
66  * segmented region
67  * \param[out] output Output point cloud passed by reference
68  */
69  void
71 
72  /** \brief Binary dilation is similar to a logical disjunction of sets.
73  * At each pixel having value 1, if for all pixels in the structuring element having
74  * value 1, the corresponding pixels in the input image are also 1, the center pixel
75  * is set to 1. Otherwise, it is set to 0.
76  *
77  * \param[out] output Output point cloud passed by reference
78  */
79  void
81 
82  /** \brief Binary erosion is similar to a logical addition of sets.
83  * At each pixel having value 1, if at least one pixel in the structuring element is
84  * 1 and the corresponding point in the input image is 1, the center pixel is set
85  * to 1. Otherwise, it is set to 0.
86  *
87  * \param[out] output Output point cloud passed by reference
88  */
89  void
91 
92  /** \brief Grayscale erosion followed by dilation.
93  * This is used to remove small bright artifacts from the image. Large bright objects
94  * are relatively undisturbed.
95  *
96  * \param[out] output Output point cloud passed by reference
97  */
98  void
100 
101  /** \brief Grayscale dilation followed by erosion.
102  * This is used to remove small dark artifacts from the image. Bright features or
103  * large dark features are relatively undisturbed.
104  *
105  * \param[out] output Output point cloud passed by reference
106  */
107  void
109 
110  /** \brief Takes the min of the pixels where kernel is 1
111  * \param[out] output Output point cloud passed by reference
112  */
113  void
115 
116  /** \brief Takes the max of the pixels where kernel is 1
117  * \param[out] output Output point cloud passed by reference
118  */
119  void
121 
122  /** \brief Set operation
123  * output = input1 - input2
124  * \param[out] output Output point cloud passed by reference
125  * \param[in] input1
126  * \param[in] input2
127  */
128  void
130  const pcl::PointCloud<PointT>& input1,
131  const pcl::PointCloud<PointT>& input2);
132 
133  /** \brief Set operation
134  * \f$output = input1 \cup input2\f$
135  * \param[out] output Output point cloud passed by reference
136  * \param[in] input1
137  * \param[in] input2
138  */
139  void
141  const pcl::PointCloud<PointT>& input1,
142  const pcl::PointCloud<PointT>& input2);
143 
144  /** \brief Set operation \f$ output = input1 \cap input2 \f$
145  * \param[out] output Output point cloud passed by reference
146  * \param[in] input1
147  * \param[in] input2
148  */
149  void
151  const pcl::PointCloud<PointT>& input1,
152  const pcl::PointCloud<PointT>& input2);
153 
154  /** \brief Creates a circular structing element. The size of the kernel created is
155  * 2*radius x 2*radius. Center of the structuring element is the center of the circle.
156  * All values lying on the circle are 1 and the others are 0.
157  *
158  * \param[out] kernel structuring element kernel passed by reference
159  * \param[in] radius Radius of the circular structuring element.
160  */
161  void
163 
164  /** \brief Creates a rectangular structing element of size height x width. *
165  * All values are 1.
166  *
167  * \param[out] kernel structuring element kernel passed by reference
168  * \param[in] height height number of rows in the structuring element
169  * \param[in] width number of columns in the structuring element
170  *
171  */
172  void
174  const int height,
175  const int width);
176 
186  };
187 
189 
190  /**
191  * \param[out] output Output point cloud passed by reference
192  */
193  void
195 
196  /**
197  * \param[in] structuring_element The structuring element to be used for the
198  * morphological operation
199  */
200  void
201  setStructuringElement(const PointCloudInPtr& structuring_element);
202 };
203 
204 } // namespace pcl
205 
206 #include <pcl/2d/impl/morphology.hpp>
void dilationBinary(pcl::PointCloud< PointT > &output)
Binary erosion is similar to a logical addition of sets.
Definition: morphology.hpp:98
void subtractionBinary(pcl::PointCloud< PointT > &output, const pcl::PointCloud< PointT > &input1, const pcl::PointCloud< PointT > &input2)
Set operation output = input1 - input2.
Definition: morphology.hpp:269
Morphology()=default
void erosionGray(pcl::PointCloud< PointT > &output)
Takes the min of the pixels where kernel is 1.
Definition: morphology.hpp:164
void openingBinary(pcl::PointCloud< PointT > &output)
This function performs erosion followed by dilation.
Definition: morphology.hpp:143
void erosionBinary(pcl::PointCloud< PointT > &output)
Binary dilation is similar to a logical disjunction of sets.
Definition: morphology.hpp:47
void setStructuringElement(const PointCloudInPtr &structuring_element)
Definition: morphology.hpp:362
void closingGray(pcl::PointCloud< PointT > &output)
Grayscale dilation followed by erosion.
Definition: morphology.hpp:259
void closingBinary(pcl::PointCloud< PointT > &output)
This function performs dilation followed by erosion.
Definition: morphology.hpp:154
void intersectionBinary(pcl::PointCloud< PointT > &output, const pcl::PointCloud< PointT > &input1, const pcl::PointCloud< PointT > &input2)
Set operation .
Definition: morphology.hpp:309
void unionBinary(pcl::PointCloud< PointT > &output, const pcl::PointCloud< PointT > &input1, const pcl::PointCloud< PointT > &input2)
Set operation .
Definition: morphology.hpp:289
void structuringElementRectangle(pcl::PointCloud< PointT > &kernel, const int height, const int width)
Creates a rectangular structing element of size height x width.
Definition: morphology.hpp:349
void applyMorphologicalOperation(pcl::PointCloud< PointT > &output)
void openingGray(pcl::PointCloud< PointT > &output)
Grayscale erosion followed by dilation.
Definition: morphology.hpp:249
void structuringElementCircular(pcl::PointCloud< PointT > &kernel, const int radius)
Creates a circular structing element.
Definition: morphology.hpp:329
MORPHOLOGICAL_OPERATOR_TYPE operator_type
Definition: morphology.h:188
void dilationGray(pcl::PointCloud< PointT > &output)
Takes the max of the pixels where kernel is 1.
Definition: morphology.hpp:206
PCL base class.
Definition: pcl_base.h:70
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413