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<li class="navelem"><a class="el" href="dir_c94e79c2c5a14cf51fca344e688faa8f.html">pcl</a></li><li class="navelem"><a class="el" href="dir_1fa9e61e4e86bede49a260cd2971bd05.html">features</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <pcl/features/feature.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {<span class="comment"></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> /** \brief BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> * for local reference frame estimation as described here:</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> * - A. Petrelli, L. Di Stefano,</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * "On the repeatability of the local reference frame for partial shape matching",</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> * 13th International Conference on Computer Vision (ICCV), 2011</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> * \author Alioscia Petrelli (original), Tommaso Cavallari (PCL port)</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> * \ingroup features</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = ReferenceFrame></div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html"> 58</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">BOARDLocalReferenceFrameEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a><PointInT, PointNT, PointOutT></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  {</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad2384579881b3668c799045d4cf75069"> 61</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad2384579881b3668c799045d4cf75069">Ptr</a> = shared_ptr<BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#afff81a16003671aaffd5fa21d52b4ea9"> 62</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#afff81a16003671aaffd5fa21d52b4ea9">ConstPtr</a> = shared_ptr<const BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"></span> </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> /** \brief Constructor. */</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9fa7273a3e5b10ba7d377cf7f022eef2"> 65</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9fa7273a3e5b10ba7d377cf7f022eef2">BOARDLocalReferenceFrameEstimation</a> () :</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  tangent_radius_ (0.0f),</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  find_holes_ (false),</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  margin_thresh_ (0.85f),</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  check_margin_array_size_ (24),</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  hole_size_prob_thresh_ (0.2f),</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  steep_thresh_ (0.1f)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  {</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">"BOARDLocalReferenceFrameEstimation"</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">setCheckMarginArraySize</a> (check_margin_array_size_);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  }</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment"></span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> /** \brief Empty destructor */</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a2a31862223f98568b69c8adc69d936e6"> 78</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a2a31862223f98568b69c8adc69d936e6">~BOARDLocalReferenceFrameEstimation</a> () {}</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">//Getters/Setters</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"></span> </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"> /** \brief Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point.</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> * \param[in] radius The search radius for x and y axes. If not set or set to 0 the parameter given with setRadiusSearch is used.</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6b84b273b35a2c0e1ce2db35a0c344b5"> 87</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6b84b273b35a2c0e1ce2db35a0c344b5">setTangentRadius</a> (<span class="keywordtype">float</span> radius)</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  {</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  tangent_radius_ = radius;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"></span> </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> /** \brief Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point.</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> * \return The search radius for x and y axes. If set to 0 the parameter given with setRadiusSearch is used.</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a256c12a56092a55bdeed19ac1a77ec15"> 97</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a256c12a56092a55bdeed19ac1a77ec15">getTangentRadius</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">return</span> (tangent_radius_);</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"></span> </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> /** \brief Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the </span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"> * Reference Frame or not.</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"> * \param[in] find_holes Enable/Disable the search for holes in the support.</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aff653a5a1a90a17c50e2f1c0ba9c225d"> 108</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aff653a5a1a90a17c50e2f1c0ba9c225d">setFindHoles</a> (<span class="keywordtype">bool</span> find_holes)</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  {</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  find_holes_ = find_holes;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  }</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"></span> </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> /** \brief Gets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the </span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> * Reference Frame or not.</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> * \return The search for holes in the support is enabled/disabled.</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a132a85d60b60164853924bafb14e1f3b"> 119</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a132a85d60b60164853924bafb14e1f3b">getFindHoles</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordflow">return</span> (find_holes_);</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  }</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"></span> </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> /** \brief Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> * \param[in] margin_thresh the percentage of the search radius after which a point is considered a margin point.</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab133cdddc92c41a0a53accfa4e83ea28"> 129</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab133cdddc92c41a0a53accfa4e83ea28">setMarginThresh</a> (<span class="keywordtype">float</span> margin_thresh)</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  {</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  margin_thresh_ = margin_thresh;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"></span> </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> /** \brief Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"> * \return The percentage of the search radius after which a point is considered a margin point.</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6ffa76944c0cbdb3c38645e4af539d99"> 139</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6ffa76944c0cbdb3c38645e4af539d99">getMarginThresh</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">return</span> (margin_thresh_);</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"></span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> /** \brief Sets the number of slices in which is divided the margin for the search of missing regions.</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"> * \param[in] size the number of margin slices.</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79"> 149</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">setCheckMarginArraySize</a> (<span class="keywordtype">int</span> size)</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  {</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  check_margin_array_size_ = size;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  check_margin_array_.clear ();</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  check_margin_array_.resize (check_margin_array_size_);</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  margin_array_min_angle_.clear ();</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  margin_array_min_angle_.resize (check_margin_array_size_);</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  margin_array_max_angle_.clear ();</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  margin_array_max_angle_.resize (check_margin_array_size_);</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  </div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  margin_array_min_angle_normal_.clear ();</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  margin_array_min_angle_normal_.resize (check_margin_array_size_);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  margin_array_max_angle_normal_.clear ();</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  margin_array_max_angle_normal_.resize (check_margin_array_size_);</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  }</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="comment"></span> </div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"> /** \brief Gets the number of slices in which is divided the margin for the search of missing regions.</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> * \return the number of margin slices.</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#acca15a07b92d4e6aac69fccafb6f5d7a"> 174</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#acca15a07b92d4e6aac69fccafb6f5d7a">getCheckMarginArraySize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">return</span> (check_margin_array_size_);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="comment"></span> </div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment"> /** \brief Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle </span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment"> * must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"> * \param[in] prob_thresh the minimum percentage of a circumference after which a hole is considered in the calculation</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a40a126956e22130de00aeb223a522ba8"> 185</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a40a126956e22130de00aeb223a522ba8">setHoleSizeProbThresh</a> (<span class="keywordtype">float</span> prob_thresh)</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  {</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  hole_size_prob_thresh_ = prob_thresh;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  }</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment"></span> </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment"> /** \brief Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle </span></div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment"> * must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="comment"> * \return the minimum percentage of a circumference after which a hole is considered in the calculation</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af455b091134c659ef542b6b68d92302d"> 196</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af455b091134c659ef542b6b68d92302d">getHoleSizeProbThresh</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">return</span> (hole_size_prob_thresh_);</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="comment"></span> </div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> <span class="comment"> /** \brief Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> <span class="comment"> * to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment"> * \param[in] steep_thresh threshold that defines if a missing region contains a point with the most different normal.</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a121b2c872aab8a5ab7708b378369437c"> 207</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a121b2c872aab8a5ab7708b378369437c">setSteepThresh</a> (<span class="keywordtype">float</span> steep_thresh)</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  {</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  steep_thresh_ = steep_thresh;</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="comment"></span> </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="comment"> /** \brief Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="comment"> * to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="comment"> * \return threshold that defines if a missing region contains a point with the most different normal.</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab7f7236eb7e247383e2b22650cfc2a99"> 218</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab7f7236eb7e247383e2b22650cfc2a99">getSteepThresh</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">return</span> (steep_thresh_);</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  }</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::feature_name_</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::getClassName</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::input_</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::indices_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::surface_</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::tree_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::search_parameter_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab36b5cd8321c6c8ef33928c3163a57a6"> 233</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab36b5cd8321c6c8ef33928c3163a57a6">PointCloudIn</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature<PointInT, PointOutT>::PointCloudIn</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a664c77767f2a3ba43aeddc566020aaf5"> 234</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a664c77767f2a3ba43aeddc566020aaf5">PointCloudOut</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature<PointInT, PointOutT>::PointCloudOut</a>;</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a0d115b55f54fc088ed0f013a96a2e617"> 237</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a0d115b55f54fc088ed0f013a96a2e617">resetData</a> ()</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  {</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">setCheckMarginArraySize</a> (check_margin_array_size_);</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  }</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="comment"></span> </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment"> /** \brief Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"> * \param[in] index the index of the point in input_</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="comment"> * \param[out] lrf the resultant local reference frame</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordtype">float</span></div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">computePointLRF</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> &index, Eigen::Matrix3f &lrf);</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="comment"></span> </div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> <span class="comment"> /** \brief Abstract feature estimation method.</span></div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <span class="comment"> * \param[out] output the resultant features</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad7e434bc0239e122096cb46d1a05ad00">computeFeature</a> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a664c77767f2a3ba43aeddc566020aaf5">PointCloudOut</a> &output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment"></span> </div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="comment"> /** \brief Given an axis (with origin axis_origin), return the orthogonal axis directed to point.</span></div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="comment"> * \note axis must be normalized.</span></div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> <span class="comment"> * \param[in] axis the axis</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"> * \param[in] axis_origin the axis_origin</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="comment"> * \param[in] point the point towards which the resulting axis is directed</span></div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment"> * \param[out] directed_ortho_axis the directed orthogonal axis calculated</span></div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">directedOrthogonalAxis</a> (Eigen::Vector3f <span class="keyword">const</span> &axis, Eigen::Vector3f <span class="keyword">const</span> &axis_origin,</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  Eigen::Vector3f <span class="keyword">const</span> &point, Eigen::Vector3f &directed_ortho_axis);</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="comment"></span> </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="comment"> /** \brief return the angle (in radians) that rotate v1 to v2 with respect to axis .</span></div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> <span class="comment"> * \param[in] v1 the first vector</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment"> * \param[in] v2 the second vector</span></div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"> * \param[in] axis the rotation axis. Axis must be normalized and orthogonal to plane defined by v1 and v2.</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="comment"> * \return angle</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordtype">float</span></div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">getAngleBetweenUnitVectors</a> (Eigen::Vector3f <span class="keyword">const</span> &v1, Eigen::Vector3f <span class="keyword">const</span> &v2, Eigen::Vector3f <span class="keyword">const</span> &axis);</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="comment"></span> </div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> <span class="comment"> /** \brief Disambiguates a normal direction using adjacent normals</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> <span class="comment"> * \param[in] normals_cloud a cloud of normals used for the calculation</span></div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> <span class="comment"> * \param[in] normal_indices the indices of the normals in the cloud that should to be used for the calculation</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> <span class="comment"> * \param[in,out] normal the normal to disambiguate, the calculation is performed in place</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aab6328bd9ca767e101193c0133a8313d">normalDisambiguation</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointNT></a> <span class="keyword">const</span> &normals_cloud, std::vector<int> <span class="keyword">const</span> &normal_indices,</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  Eigen::Vector3f &normal);</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="comment"></span> </div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="comment"> /** \brief Compute Least Square Plane Fitting in a set of 3D points</span></div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment"> * \param[in] points Matrix(nPoints,3) of 3D points coordinates</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="comment"> * \param[out] center centroid of the distribution of points that belongs to the fitted plane</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="comment"> * \param[out] norm normal to the fitted plane</span></div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">planeFitting</a> (Eigen::Matrix<float, Eigen::Dynamic, 3> <span class="keyword">const</span> &points, Eigen::Vector3f &center,</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  Eigen::Vector3f &norm);</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="comment"></span> </div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="comment"> /** \brief Given a plane (origin and normal) and a point, return the projection of x on plane</span></div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="comment"> * Equivalent to vtkPlane::ProjectPoint()</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="comment"> * \param[in] point the point to project</span></div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="comment"> * \param[in] origin_point a point belonging to the plane</span></div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"> * \param[in] plane_normal normal of the plane</span></div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> * \param[out] projected_point the projection of the point on the plane</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">projectPointOnPlane</a> (Eigen::Vector3f <span class="keyword">const</span> &point, Eigen::Vector3f <span class="keyword">const</span> &origin_point,</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  Eigen::Vector3f <span class="keyword">const</span> &plane_normal, Eigen::Vector3f &projected_point);</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="comment"></span> </div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span> <span class="comment"> /** \brief Given an axis, return a random orthogonal axis</span></div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> <span class="comment"> * \param[in] axis input axis</span></div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> <span class="comment"> * \param[out] rand_ortho_axis an axis orthogonal to the input axis and whose direction is random</span></div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">randomOrthogonalAxis</a> (Eigen::Vector3f <span class="keyword">const</span> &axis, Eigen::Vector3f &rand_ortho_axis);</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="comment"></span> </div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="comment"> /** \brief Check if val1 and val2 are equals.</span></div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="comment"> * \param[in] val1 first number to check.</span></div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="comment"> * \param[in] val2 second number to check.</span></div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> <span class="comment"> * \param[in] zero_float_eps epsilon</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> <span class="comment"> * \return true if val1 is equal to val2, false otherwise.</span></div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1"> 327</a></span>  <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">areEquals</a> (<span class="keywordtype">float</span> val1, <span class="keywordtype">float</span> val2, <span class="keywordtype">float</span> zero_float_eps = 1E-8f)<span class="keyword"> const</span></div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordflow">return</span> (std::abs (val1 - val2) < zero_float_eps);</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  }</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="keyword">private</span>:<span class="comment"></span></div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> <span class="comment"> /** \brief Radius used to find tangent axis. */</span></div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordtype">float</span> tangent_radius_;</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment"></span> </div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"> /** \brief If true, check if support is complete or has missing regions because it is too near to mesh borders. */</span></div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  <span class="keywordtype">bool</span> find_holes_;</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment"></span> </div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> <span class="comment"> /** \brief Threshold that define if a support point is near the margins. */</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordtype">float</span> margin_thresh_; </div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> <span class="comment"></span> </div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="comment"> /** \brief Number of slices that divide the support in order to determine if a missing region is present. */</span></div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <span class="keywordtype">int</span> check_margin_array_size_; </div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> <span class="comment"></span> </div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> <span class="comment"> /** \brief Threshold used to determine a missing region */</span></div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordtype">float</span> hole_size_prob_thresh_; </div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> <span class="comment"></span> </div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> <span class="comment"> /** \brief Threshold that defines if a missing region contains a point with the most different normal. */</span></div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordtype">float</span> steep_thresh_; </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  </div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  std::vector<bool> check_margin_array_;</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  std::vector<float> margin_array_min_angle_;</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  std::vector<float> margin_array_max_angle_;</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  std::vector<float> margin_array_min_angle_normal_;</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  std::vector<float> margin_array_max_angle_normal_;</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  };</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span> }</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  </div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> <span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <span class="preprocessor">#include <pcl/features/impl/board.hpp></span></div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ab7f7236eb7e247383e2b22650cfc2a99"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab7f7236eb7e247383e2b22650cfc2a99">pcl::BOARDLocalReferenceFrameEstimation::getSteepThresh</a></div><div class="ttdeci">float getSteepThresh() const</div><div class="ttdoc">Gets the minimum steepness that the normals of the points situated on the borders of the hole,...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00218">board.h:218</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_acca15a07b92d4e6aac69fccafb6f5d7a"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#acca15a07b92d4e6aac69fccafb6f5d7a">pcl::BOARDLocalReferenceFrameEstimation::getCheckMarginArraySize</a></div><div class="ttdeci">int getCheckMarginArraySize() const</div><div class="ttdoc">Gets the number of slices in which is divided the margin for the search of missing regions.</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00174">board.h:174</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_afff81a16003671aaffd5fa21d52b4ea9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#afff81a16003671aaffd5fa21d52b4ea9">pcl::BOARDLocalReferenceFrameEstimation::ConstPtr</a></div><div class="ttdeci">shared_ptr< const BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00062">board.h:62</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a6b84b273b35a2c0e1ce2db35a0c344b5"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6b84b273b35a2c0e1ce2db35a0c344b5">pcl::BOARDLocalReferenceFrameEstimation::setTangentRadius</a></div><div class="ttdeci">void setTangentRadius(float radius)</div><div class="ttdoc">Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference ...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00087">board.h:87</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a372933f17aa96381feed1149b935d337"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">pcl::BOARDLocalReferenceFrameEstimation::directedOrthogonalAxis</a></div><div class="ttdeci">void directedOrthogonalAxis(Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin, Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis)</div><div class="ttdoc">Given an axis (with origin axis_origin), return the orthogonal axis directed to point.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00048">board.hpp:48</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud< PointInT ></a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a132a85d60b60164853924bafb14e1f3b"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a132a85d60b60164853924bafb14e1f3b">pcl::BOARDLocalReferenceFrameEstimation::getFindHoles</a></div><div class="ttdeci">bool getFindHoles() const</div><div class="ttdoc">Gets whether holes in the margin of the support, for each point, are searched and accounted for in th...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00119">board.h:119</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a443d413a50bc03235dfca64d6a0d4563"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">pcl::BOARDLocalReferenceFrameEstimation::computePointLRF</a></div><div class="ttdeci">float computePointLRF(const int &index, Eigen::Matrix3f &lrf)</div><div class="ttdoc">Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with nor...</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00183">board.hpp:183</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a697610a41cdc46220a777b1b3d804a79"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a697610a41cdc46220a777b1b3d804a79">pcl::BOARDLocalReferenceFrameEstimation::setCheckMarginArraySize</a></div><div class="ttdeci">void setCheckMarginArraySize(int size)</div><div class="ttdoc">Sets the number of slices in which is divided the margin for the search of missing regions.</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00149">board.h:149</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ab36b5cd8321c6c8ef33928c3163a57a6"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab36b5cd8321c6c8ef33928c3163a57a6">pcl::BOARDLocalReferenceFrameEstimation::PointCloudIn</a></div><div class="ttdeci">typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00233">board.h:233</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a121b2c872aab8a5ab7708b378369437c"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a121b2c872aab8a5ab7708b378369437c">pcl::BOARDLocalReferenceFrameEstimation::setSteepThresh</a></div><div class="ttdeci">void setSteepThresh(float steep_thresh)</div><div class="ttdoc">Sets the minimum steepness that the normals of the points situated on the borders of the hole,...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00207">board.h:207</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a9fa7273a3e5b10ba7d377cf7f022eef2"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a9fa7273a3e5b10ba7d377cf7f022eef2">pcl::BOARDLocalReferenceFrameEstimation::BOARDLocalReferenceFrameEstimation</a></div><div class="ttdeci">BOARDLocalReferenceFrameEstimation()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00065">board.h:65</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aab6328bd9ca767e101193c0133a8313d"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aab6328bd9ca767e101193c0133a8313d">pcl::BOARDLocalReferenceFrameEstimation::normalDisambiguation</a></div><div class="ttdeci">void normalDisambiguation(pcl::PointCloud< PointNT > const &normals_cloud, std::vector< int > const &normal_indices, Eigen::Vector3f &normal)</div><div class="ttdoc">Disambiguates a normal direction using adjacent normals.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00158">board.hpp:158</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a539340a12ac997e4a6bc4c20764d1ed1"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">pcl::BOARDLocalReferenceFrameEstimation::planeFitting</a></div><div class="ttdeci">void planeFitting(Eigen::Matrix< float, Eigen::Dynamic, 3 > const &points, Eigen::Vector3f &center, Eigen::Vector3f &norm)</div><div class="ttdoc">Compute Least Square Plane Fitting in a set of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00130">board.hpp:130</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aecb6595caf21c9109e84f7c5964e04d9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">pcl::BOARDLocalReferenceFrameEstimation::randomOrthogonalAxis</a></div><div class="ttdeci">void randomOrthogonalAxis(Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis)</div><div class="ttdoc">Given an axis, return a random orthogonal axis.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00099">board.hpp:99</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a256c12a56092a55bdeed19ac1a77ec15"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a256c12a56092a55bdeed19ac1a77ec15">pcl::BOARDLocalReferenceFrameEstimation::getTangentRadius</a></div><div class="ttdeci">float getTangentRadius() const</div><div class="ttdoc">Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference ...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00097">board.h:97</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a664c77767f2a3ba43aeddc566020aaf5"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a664c77767f2a3ba43aeddc566020aaf5">pcl::BOARDLocalReferenceFrameEstimation::PointCloudOut</a></div><div class="ttdeci">typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00234">board.h:234</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aee8fdbbcd1053a970dd15835cce2d9b1"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aee8fdbbcd1053a970dd15835cce2d9b1">pcl::BOARDLocalReferenceFrameEstimation::areEquals</a></div><div class="ttdeci">bool areEquals(float val1, float val2, float zero_float_eps=1E-8f) const</div><div class="ttdoc">Check if val1 and val2 are equals.</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00327">board.h:327</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html">pcl::BOARDLocalReferenceFrameEstimation</a></div><div class="ttdoc">BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for lo...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00058">board.h:58</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a26951f67a6cc8abb851ba700125084a9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">pcl::BOARDLocalReferenceFrameEstimation::projectPointOnPlane</a></div><div class="ttdeci">void projectPointOnPlane(Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point, Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point)</div><div class="ttdoc">Given a plane (origin and normal) and a point, return the projection of x on plane.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00066">board.hpp:66</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a0d115b55f54fc088ed0f013a96a2e617"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a0d115b55f54fc088ed0f013a96a2e617">pcl::BOARDLocalReferenceFrameEstimation::resetData</a></div><div class="ttdeci">void resetData()</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00237">board.h:237</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00311">feature.h:311</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ad7e434bc0239e122096cb46d1a05ad00"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad7e434bc0239e122096cb46d1a05ad00">pcl::BOARDLocalReferenceFrameEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &output) override</div><div class="ttdoc">Abstract feature estimation method.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00569">board.hpp:569</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a6ffa76944c0cbdb3c38645e4af539d99"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a6ffa76944c0cbdb3c38645e4af539d99">pcl::BOARDLocalReferenceFrameEstimation::getMarginThresh</a></div><div class="ttdeci">float getMarginThresh() const</div><div class="ttdoc">Gets the percentage of the search radius (or tangent radius if set) after which a point is considered...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00139">board.h:139</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ad2384579881b3668c799045d4cf75069"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad2384579881b3668c799045d4cf75069">pcl::BOARDLocalReferenceFrameEstimation::Ptr</a></div><div class="ttdeci">shared_ptr< BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00061">board.h:61</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ab133cdddc92c41a0a53accfa4e83ea28"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ab133cdddc92c41a0a53accfa4e83ea28">pcl::BOARDLocalReferenceFrameEstimation::setMarginThresh</a></div><div class="ttdeci">void setMarginThresh(float margin_thresh)</div><div class="ttdoc">Sets the percentage of the search radius (or tangent radius if set) after which a point is considered...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00129">board.h:129</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a78e4538355e85c97aac9550bf05b0c4e"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">pcl::BOARDLocalReferenceFrameEstimation::getAngleBetweenUnitVectors</a></div><div class="ttdeci">float getAngleBetweenUnitVectors(Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis)</div><div class="ttdoc">return the angle (in radians) that rotate v1 to v2 with respect to axis .</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00083">board.hpp:83</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_af455b091134c659ef542b6b68d92302d"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#af455b091134c659ef542b6b68d92302d">pcl::BOARDLocalReferenceFrameEstimation::getHoleSizeProbThresh</a></div><div class="ttdeci">float getHoleSizeProbThresh() const</div><div class="ttdoc">Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00196">board.h:196</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aff653a5a1a90a17c50e2f1c0ba9c225d"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aff653a5a1a90a17c50e2f1c0ba9c225d">pcl::BOARDLocalReferenceFrameEstimation::setFindHoles</a></div><div class="ttdeci">void setFindHoles(bool find_holes)</div><div class="ttdoc">Sets whether holes in the margin of the support, for each point, are searched and accounted for in th...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00108">board.h:108</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a40a126956e22130de00aeb223a522ba8"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a40a126956e22130de00aeb223a522ba8">pcl::BOARDLocalReferenceFrameEstimation::setHoleSizeProbThresh</a></div><div class="ttdeci">void setHoleSizeProbThresh(float prob_thresh)</div><div class="ttdoc">Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference...</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00185">board.h:185</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature< PointInT, ReferenceFrame >::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00223">feature.h:223</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a2a31862223f98568b69c8adc69d936e6"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a2a31862223f98568b69c8adc69d936e6">pcl::BOARDLocalReferenceFrameEstimation::~BOARDLocalReferenceFrameEstimation</a></div><div class="ttdeci">~BOARDLocalReferenceFrameEstimation()</div><div class="ttdoc">Empty destructor.</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00078">board.h:78</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00106">feature.h:106</a></div></div>
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