Point Cloud Library (PCL) 1.15.0
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don.hpp
1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2012, Yani Ioannou <yani.ioannou@gmail.com>
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23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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36 */
37#ifndef PCL_FILTERS_DON_IMPL_H_
38#define PCL_FILTERS_DON_IMPL_H_
39
40#include <pcl/features/don.h>
41
42//////////////////////////////////////////////////////////////////////////////////////////////
43template <typename PointInT, typename PointNT, typename PointOutT> bool
45{
46 // Check if input normals are set
47 if (!input_normals_small_)
48 {
49 PCL_ERROR ("[pcl::%s::initCompute] No input dataset containing small support radius normals was given!\n", getClassName().c_str ());
51 return (false);
52 }
53
54 if (!input_normals_large_)
55 {
56 PCL_ERROR ("[pcl::%s::initCompute] No input dataset containing large support radius normals was given!\n", getClassName().c_str ());
58 return (false);
59 }
60
61 // Check if the size of normals is the same as the size of the surface
62 if (input_normals_small_->size () != input_->size ())
63 {
64 PCL_ERROR ("[pcl::%s::initCompute] ", getClassName().c_str ());
65 PCL_ERROR ("The number of points in the input dataset differs from ");
66 PCL_ERROR ("the number of points in the dataset containing the small support radius normals!\n");
68 return (false);
69 }
70
71 if (input_normals_large_->size () != input_->size ())
72 {
73 PCL_ERROR ("[pcl::%s::initCompute] ", getClassName().c_str ());
74 PCL_ERROR ("The number of points in the input dataset differs from ");
75 PCL_ERROR ("the number of points in the dataset containing the large support radius normals!\n");
77 return (false);
78 }
79
80 return (true);
81}
82
83//////////////////////////////////////////////////////////////////////////////////////////////
84template <typename PointInT, typename PointNT, typename PointOutT> void
86{
87 //perform DoN subtraction and return results
88 for (std::size_t point_id = 0; point_id < input_->size (); ++point_id)
89 {
90 output[point_id].getNormalVector3fMap () = ((*input_normals_small_)[point_id].getNormalVector3fMap ()
91 - (*input_normals_large_)[point_id].getNormalVector3fMap ()) / 2.0;
92 if(!std::isfinite (output[point_id].normal_x) ||
93 !std::isfinite (output[point_id].normal_y) ||
94 !std::isfinite (output[point_id].normal_z)){
95 output[point_id].getNormalVector3fMap () = Eigen::Vector3f(0,0,0);
96 }
97 output[point_id].curvature = output[point_id].getNormalVector3fMap ().norm();
98 }
99}
100
101
102#define PCL_INSTANTIATE_DifferenceOfNormalsEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::DifferenceOfNormalsEstimation<T,NT,OutT>;
103
104#endif // PCL_FILTERS_DON_H_
bool initCompute() override
Initialize for computation of features.
Definition don.hpp:44
void computeFeature(PointCloudOut &output) override
Computes the DoN vector for each point in the input point cloud and outputs the vector cloud to the g...
Definition don.hpp:85
Feature represents the base feature class.
Definition feature.h:107