pcl::PCA<PointT>::PCA (const pcl::PointCloud<PointT>& X, bool basis_only)
{
Base ();
basis_only_ = basis_only;
setInputCloud (X.makeShared ());
compute_done_ = initCompute ();
}
void
pcl::pcl_2d::morphology<PointT>::closingGray (pcl::PointCloud<PointT> &output){
PointCloudInPtr intermediate_output (new PointCloudIn);
dilationGray (*intermediate_output);
setInputCloud (intermediate_output);
erosionGray (output);
}
void
FilterIndices::compute (const PointCloud3D& input, Indices& indices)
{
setInputCloud (input);
compute (indices);
}
template<typename PointInT, typename PointOutT> void
pcl_1_8::Edge<PointInT, PointOutT>::detectEdgeCanny (pcl::PointCloud<PointOutT> &output)
{
float tHigh = hysteresis_threshold_high_;
float tLow = hysteresis_threshold_low_;
const int height = input_->height;
const int width = input_->width;
output.resize (height * width);
output.height = height;
output.width = width;
//pcl::console::TicToc tt;
//tt.tic ();
// Noise reduction using gaussian blurring
pcl::PointCloud<pcl::PointXYZI>::Ptr gaussian_kernel (new pcl::PointCloud<pcl::PointXYZI>);
PointCloudInPtr smoothed_cloud (new PointCloudIn);
kernel_.setKernelSize (3);
kernel_.setKernelSigma (1.0);
kernel_.setKernelType (kernel<pcl::PointXYZI>::GAUSSIAN);
kernel_.fetchKernel (*gaussian_kernel);
convolution_.setKernel (*gaussian_kernel);
convolution_.setInputCloud (input_);
convolution_.filter (*smoothed_cloud);
//PCL_ERROR ("Gaussian blur: %g\n", tt.toc ()); tt.tic ();
// Edge detection usign Sobel
pcl::PointCloud<PointXYZIEdge>::Ptr edges (new pcl::PointCloud<PointXYZIEdge>);
setInputCloud (smoothed_cloud);
detectEdgeSobel (*edges);
//PCL_ERROR ("Sobel: %g\n", tt.toc ()); tt.tic ();
// Edge discretization
discretizeAngles (*edges);
//PCL_ERROR ("Discretize: %g\n", tt.toc ()); tt.tic ();
// tHigh and non-maximal supression
pcl::PointCloud<pcl::PointXYZI>::Ptr maxima (new pcl::PointCloud<pcl::PointXYZI>);
suppressNonMaxima (*edges, *maxima, tLow);
//PCL_ERROR ("NM suppress: %g\n", tt.toc ()); tt.tic ();
// Edge tracing
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
if ((*maxima)(j, i).intensity < tHigh || (*maxima)(j, i).intensity == std::numeric_limits<float>::max ())
continue;
(*maxima)(j, i).intensity = std::numeric_limits<float>::max ();
cannyTraceEdge ( 1, 0, i, j, *maxima);
cannyTraceEdge (-1, 0, i, j, *maxima);
cannyTraceEdge ( 1, 1, i, j, *maxima);
cannyTraceEdge (-1, -1, i, j, *maxima);
cannyTraceEdge ( 0, -1, i, j, *maxima);
cannyTraceEdge ( 0, 1, i, j, *maxima);
cannyTraceEdge (-1, 1, i, j, *maxima);
cannyTraceEdge ( 1, -1, i, j, *maxima);
}
}
//PCL_ERROR ("Edge tracing: %g\n", tt.toc ());
// Final thresholding
for (size_t i = 0; i < input_->size (); ++i)
{
if ((*maxima)[i].intensity == std::numeric_limits<float>::max ())
output[i].magnitude = 255;
else
output[i].magnitude = 0;
}
}
void
Filter::compute (const PointCloud3D& input, PointCloud3D& output)
{
setInputCloud (input);
compute (output);
}
