368 lines
12 KiB
C++
368 lines
12 KiB
C++
/*
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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/2d/morphology.h>
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namespace pcl {
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// Assumes input, kernel and output images have 0's and 1's only
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template <typename PointT>
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void
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Morphology<PointT>::erosionBinary(pcl::PointCloud<PointT>& output)
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{
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const int height = input_->height;
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const int width = input_->width;
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const int kernel_height = structuring_element_->height;
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const int kernel_width = structuring_element_->width;
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bool mismatch_flag;
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output.width = width;
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output.height = height;
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output.resize(width * height);
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for (int i = 0; i < height; i++) {
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for (int j = 0; j < width; j++) {
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// Operation done only at 1's
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if ((*input_)(j, i).intensity == 0) {
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output(j, i).intensity = 0;
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continue;
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}
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mismatch_flag = false;
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for (int k = 0; k < kernel_height; k++) {
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if (mismatch_flag)
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break;
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for (int l = 0; l < kernel_width; l++) {
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// We only check for 1's in the kernel
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if ((*structuring_element_)(l, k).intensity == 0)
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continue;
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if ((i + k - kernel_height / 2) < 0 ||
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(i + k - kernel_height / 2) >= height || (j + l - kernel_width / 2) < 0 ||
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(j + l - kernel_width / 2) >= width) {
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continue;
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}
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// If one of the elements of the kernel and image don't match,
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// the output image is 0. So, move to the next point.
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if ((*input_)(j + l - kernel_width / 2, i + k - kernel_height / 2)
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.intensity != 1) {
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output(j, i).intensity = 0;
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mismatch_flag = true;
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break;
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}
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}
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}
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// Assign value according to mismatch flag
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output(j, i).intensity = (mismatch_flag) ? 0 : 1;
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}
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}
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}
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// Assumes input, kernel and output images have 0's and 1's only
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template <typename PointT>
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void
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Morphology<PointT>::dilationBinary(pcl::PointCloud<PointT>& output)
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{
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const int height = input_->height;
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const int width = input_->width;
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const int kernel_height = structuring_element_->height;
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const int kernel_width = structuring_element_->width;
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bool match_flag;
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output.width = width;
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output.height = height;
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output.resize(width * height);
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for (int i = 0; i < height; i++) {
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for (int j = 0; j < width; j++) {
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match_flag = false;
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for (int k = 0; k < kernel_height; k++) {
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if (match_flag)
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break;
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for (int l = 0; l < kernel_width; l++) {
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// We only check for 1's in the kernel
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if ((*structuring_element_)(l, k).intensity == 0)
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continue;
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if ((i + k - kernel_height / 2) < 0 ||
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(i + k - kernel_height / 2) >= height || (j + l - kernel_width / 2) < 0 ||
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(j + l - kernel_width / 2) >= height) {
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continue;
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}
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// If any position where kernel is 1 and image is also one is detected,
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// matching occurs
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if ((*input_)(j + l - kernel_width / 2, i + k - kernel_height / 2)
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.intensity == 1) {
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match_flag = true;
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break;
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}
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}
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}
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// Assign value according to match flag
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output(j, i).intensity = (match_flag) ? 1 : 0;
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}
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}
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}
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// Assumes input, kernel and output images have 0's and 1's only
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template <typename PointT>
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void
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Morphology<PointT>::openingBinary(pcl::PointCloud<PointT>& output)
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{
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PointCloudInPtr intermediate_output(new PointCloudIn);
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erosionBinary(*intermediate_output);
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this->setInputCloud(intermediate_output);
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dilationBinary(output);
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}
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// Assumes input, kernel and output images have 0's and 1's only
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template <typename PointT>
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void
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Morphology<PointT>::closingBinary(pcl::PointCloud<PointT>& output)
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{
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PointCloudInPtr intermediate_output(new PointCloudIn);
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dilationBinary(*intermediate_output);
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this->setInputCloud(intermediate_output);
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erosionBinary(output);
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}
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template <typename PointT>
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void
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Morphology<PointT>::erosionGray(pcl::PointCloud<PointT>& output)
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{
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const int height = input_->height;
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const int width = input_->width;
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const int kernel_height = structuring_element_->height;
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const int kernel_width = structuring_element_->width;
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float min;
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output.resize(width * height);
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output.width = width;
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output.height = height;
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for (int i = 0; i < height; i++) {
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for (int j = 0; j < width; j++) {
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min = -1;
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for (int k = 0; k < kernel_height; k++) {
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for (int l = 0; l < kernel_width; l++) {
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// We only check for 1's in the kernel
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if ((*structuring_element_)(l, k).intensity == 0)
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continue;
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if ((i + k - kernel_height / 2) < 0 ||
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(i + k - kernel_height / 2) >= height || (j + l - kernel_width / 2) < 0 ||
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(j + l - kernel_width / 2) >= width) {
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continue;
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}
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// If one of the elements of the kernel and image don't match,
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// the output image is 0. So, move to the next point.
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if ((*input_)(j + l - kernel_width / 2, i + k - kernel_height / 2).intensity <
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min ||
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min == -1) {
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min = (*input_)(j + l - kernel_width / 2, i + k - kernel_height / 2)
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.intensity;
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}
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}
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}
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// Assign value according to mismatch flag
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output(j, i).intensity = min;
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}
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}
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}
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template <typename PointT>
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void
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Morphology<PointT>::dilationGray(pcl::PointCloud<PointT>& output)
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{
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const int height = input_->height;
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const int width = input_->width;
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const int kernel_height = structuring_element_->height;
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const int kernel_width = structuring_element_->width;
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float max;
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output.resize(width * height);
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output.width = width;
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output.height = height;
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for (int i = 0; i < height; i++) {
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for (int j = 0; j < width; j++) {
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max = -1;
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for (int k = 0; k < kernel_height; k++) {
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for (int l = 0; l < kernel_width; l++) {
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// We only check for 1's in the kernel
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if ((*structuring_element_)(l, k).intensity == 0)
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continue;
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if ((i + k - kernel_height / 2) < 0 ||
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(i + k - kernel_height / 2) >= height || (j + l - kernel_width / 2) < 0 ||
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(j + l - kernel_width / 2) >= width) {
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continue;
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}
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// If one of the elements of the kernel and image don't match,
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// the output image is 0. So, move to the next point.
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if ((*input_)(j + l - kernel_width / 2, i + k - kernel_height / 2).intensity >
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max ||
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max == -1) {
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max = (*input_)(j + l - kernel_width / 2, i + k - kernel_height / 2)
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.intensity;
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}
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}
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}
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// Assign value according to mismatch flag
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output(j, i).intensity = max;
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}
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}
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}
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template <typename PointT>
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void
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Morphology<PointT>::openingGray(pcl::PointCloud<PointT>& output)
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{
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PointCloudInPtr intermediate_output(new PointCloudIn);
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erosionGray(*intermediate_output);
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this->setInputCloud(intermediate_output);
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dilationGray(output);
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}
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template <typename PointT>
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void
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Morphology<PointT>::closingGray(pcl::PointCloud<PointT>& output)
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{
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PointCloudInPtr intermediate_output(new PointCloudIn);
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dilationGray(*intermediate_output);
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this->setInputCloud(intermediate_output);
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erosionGray(output);
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}
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template <typename PointT>
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void
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Morphology<PointT>::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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{
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const int height = (input1.height < input2.height) ? input1.height : input2.height;
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const int width = (input1.width < input2.width) ? input1.width : input2.width;
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output.width = width;
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output.height = height;
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output.resize(height * width);
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for (std::size_t i = 0; i < output.size(); ++i) {
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if (input1[i].intensity == 1 && input2[i].intensity == 0)
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output[i].intensity = 1;
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else
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output[i].intensity = 0;
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}
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}
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template <typename PointT>
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void
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Morphology<PointT>::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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{
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const int height = (input1.height < input2.height) ? input1.height : input2.height;
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const int width = (input1.width < input2.width) ? input1.width : input2.width;
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output.width = width;
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output.height = height;
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output.resize(height * width);
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for (std::size_t i = 0; i < output.size(); ++i) {
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if (input1[i].intensity == 1 || input2[i].intensity == 1)
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output[i].intensity = 1;
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else
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output[i].intensity = 0;
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}
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}
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template <typename PointT>
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void
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Morphology<PointT>::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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{
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const int height = (input1.height < input2.height) ? input1.height : input2.height;
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const int width = (input1.width < input2.width) ? input1.width : input2.width;
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output.width = width;
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output.height = height;
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output.resize(height * width);
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for (std::size_t i = 0; i < output.size(); ++i) {
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if (input1[i].intensity == 1 && input2[i].intensity == 1)
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output[i].intensity = 1;
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else
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output[i].intensity = 0;
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}
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}
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template <typename PointT>
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void
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Morphology<PointT>::structuringElementCircular(pcl::PointCloud<PointT>& kernel,
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const int radius)
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{
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const int dim = 2 * radius;
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kernel.height = dim;
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kernel.width = dim;
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kernel.resize(dim * dim);
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for (int i = 0; i < dim; i++) {
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for (int j = 0; j < dim; j++) {
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if (((i - radius) * (i - radius) + (j - radius) * (j - radius)) < radius * radius)
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kernel(j, i).intensity = 1;
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else
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kernel(j, i).intensity = 0;
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}
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}
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}
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template <typename PointT>
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void
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Morphology<PointT>::structuringElementRectangle(pcl::PointCloud<PointT>& kernel,
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const int height,
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const int width)
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{
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kernel.height = height;
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kernel.width = width;
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kernel.resize(height * width);
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for (std::size_t i = 0; i < kernel.size(); ++i)
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kernel[i].intensity = 1;
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}
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template <typename PointT>
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void
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Morphology<PointT>::setStructuringElement(const PointCloudInPtr& structuring_element)
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{
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structuring_element_ = structuring_element;
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}
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} // namespace pcl
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