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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="title">boundary.h</div> </div>
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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) 2010-2011, 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"> * $Id$</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> <span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <pcl/features/eigen.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <pcl/features/feature.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> {<span class="comment"></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> /** \brief BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> * criterion. The code makes use of the estimated surface normals at each point in the input dataset.</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * Here's an example for estimating boundary points for a PointXYZ point cloud:</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> * \code</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> * pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> * // fill in the cloud data here</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> * </span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> * pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> * // estimate normals and fill in \a normals</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> * pcl::PointCloud<pcl::Boundary> boundaries;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> * pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> est;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> * est.setInputCloud (cloud);</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> * est.setInputNormals (normals);</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> * est.setRadiusSearch (0.02); // 2cm radius</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> * est.setSearchMethod (typename pcl::search::KdTree<PointXYZ>::Ptr (new pcl::search::KdTree<PointXYZ>)</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> * est.compute (boundaries);</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> * \endcode</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> * \attention </span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> * The convention for Boundary features is:</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> * - if a query point's nearest neighbors cannot be estimated, the boundary feature will be set to NaN </span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> * (not a number)</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="comment"> * - it is impossible to estimate a boundary property for a point that</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"> * doesn't have finite 3D coordinates. Therefore, any point that contains</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> * NaN data on x, y, or z, will have its boundary feature property set to NaN.</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> * \author Radu B. Rusu</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> * \ingroup features</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</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></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html"> 80</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_boundary_estimation.html">BoundaryEstimation</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="l00081"></a><span class="lineno"> 81</span>  {</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a0b89b65423ad0f43f179ae6abd49a0b0"> 83</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#a0b89b65423ad0f43f179ae6abd49a0b0">Ptr</a> = shared_ptr<BoundaryEstimation<PointInT, PointNT, PointOutT> >;</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a2515d6220cbae4de71d807fc2f580a41"> 84</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#a2515d6220cbae4de71d807fc2f580a41">ConstPtr</a> = shared_ptr<const BoundaryEstimation<PointInT, PointNT, PointOutT> >;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</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="l00087"></a><span class="lineno"> 87</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="l00088"></a><span class="lineno"> 88</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="l00089"></a><span class="lineno"> 89</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="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::k_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</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="l00092"></a><span class="lineno"> 92</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::search_radius_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</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="l00094"></a><span class="lineno"> 94</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="l00095"></a><span class="lineno"> 95</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="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d"> 97</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">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="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">public</span>:<span class="comment"></span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"> /** \brief Empty constructor. </span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"> * The angular threshold \a angle_threshold_ is set to M_PI / 2.0</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4"> 103</a></span>  <a class="code" href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4">BoundaryEstimation</a> () : <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a> (static_cast<float> (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) / 2.0f) </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  {</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">"BoundaryEstimation"</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  };</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"></span> </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> /** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> * \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> * \param[in] cloud a pointer to the input point cloud</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> * \param[in] q_idx the index of the query point in \a cloud</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> * \param[in] indices the estimated point neighbors of the query point</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> * \param[in] u the u direction</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> * \param[in] v the v direction</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> * \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">isBoundaryPoint</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointInT></a> &cloud, </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordtype">int</span> q_idx, <span class="keyword">const</span> std::vector<int> &indices, </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keyword">const</span> Eigen::Vector4f &u, <span class="keyword">const</span> Eigen::Vector4f &v, <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold);</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"></span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> /** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> * \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> * \param[in] cloud a pointer to the input point cloud</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> * \param[in] q_point a pointer to the querry point</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> * \param[in] indices the estimated point neighbors of the query point</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"> * \param[in] u the u direction</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> * \param[in] v the v direction</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"> * \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <a class="code" href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">isBoundaryPoint</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointInT></a> &cloud, </div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keyword">const</span> PointInT &q_point, </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">const</span> std::vector<int> &indices, </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keyword">const</span> Eigen::Vector4f &u, <span class="keyword">const</span> Eigen::Vector4f &v, <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold);</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"></span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular. </span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> * (default \f$\pi / 2.0\f$) </span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"> * \param[in] angle the angle threshold</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084"> 142</a></span>  <a class="code" href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084">setAngleThreshold</a> (<span class="keywordtype">float</span> angle)</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  {</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a> = angle;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"></span> </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"> /** \brief Get the decision boundary (angle threshold) as set by the user. */</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88"> 149</a></span>  <a class="code" href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88">getAngleThreshold</a> ()</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>  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a>);</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> <span class="comment"></span> </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="comment"> /** \brief Get a u-v-n coordinate system that lies on a plane defined by its normal</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"> * \param[in] p_coeff the plane coefficients (containing the plane normal)</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"> * \param[out] u the resultant u direction</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"> * \param[out] v the resultant v direction</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9"> 160</a></span>  <a class="code" href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">getCoordinateSystemOnPlane</a> (<span class="keyword">const</span> PointNT &p_coeff, </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  Eigen::Vector4f &u, Eigen::Vector4f &v)</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  {</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <a class="code" href="namespacepcl.html#a868c010207876ae6613dc04f5e9f9e46">pcl::Vector4fMapConst</a> p_coeff_v = p_coeff.getNormalVector4fMap ();</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  v = p_coeff_v.unitOrthogonal ();</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  u = p_coeff_v.cross3 (v);</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</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="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"> /** \brief Estimate whether a set of points is lying on surface boundaries using an angle criterion for all points</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> * given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> * setSearchMethod ()</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="comment"> * \param[out] output the resultant point cloud model dataset that contains boundary point estimates</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <a class="code" href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908">computeFeature</a> (<a class="code" href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">PointCloudOut</a> &output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="comment"></span> </div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="comment"> /** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c"> 178</a></span>  <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  };</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> }</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  </div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="preprocessor">#include <pcl/features/impl/boundary.hpp></span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</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="aclasspcl_1_1_boundary_estimation_html_a572520445b0933a1b63ba6a00d36326d"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">pcl::BoundaryEstimation::PointCloudOut</a></div><div class="ttdeci">typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00097">boundary.h:97</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< PointOutT ></a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_acfdb38b1c483dfcf917200dec852fe6c"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">pcl::BoundaryEstimation::isBoundaryPoint</a></div><div class="ttdeci">bool isBoundaryPoint(const pcl::PointCloud< PointInT > &cloud, int q_idx, const std::vector< int > &indices, const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold)</div><div class="ttdoc">Check whether a point is a boundary point in a planar patch of projected points given by indices.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8hpp_source.html#l00051">boundary.hpp:51</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a20834d3b9eed1dcf4afa9dfe31dae4c4"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4">pcl::BoundaryEstimation::BoundaryEstimation</a></div><div class="ttdeci">BoundaryEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00103">boundary.h:103</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html">pcl::BoundaryEstimation</a></div><div class="ttdoc">BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00080">boundary.h:80</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a34c7e758d93f6ee09c33ad72cd733908"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908">pcl::BoundaryEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &output) override</div><div class="ttdoc">Estimate whether a set of points is lying on surface boundaries using an angle criterion for all poin...</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8hpp_source.html#l00116">boundary.hpp:116</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a085a59e06686a13ebe69997e6319e6c9"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">pcl::BoundaryEstimation::getCoordinateSystemOnPlane</a></div><div class="ttdeci">void getCoordinateSystemOnPlane(const PointNT &p_coeff, Eigen::Vector4f &u, Eigen::Vector4f &v)</div><div class="ttdoc">Get a u-v-n coordinate system that lies on a plane defined by its normal.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00160">boundary.h:160</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a2515d6220cbae4de71d807fc2f580a41"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a2515d6220cbae4de71d807fc2f580a41">pcl::BoundaryEstimation::ConstPtr</a></div><div class="ttdeci">shared_ptr< const BoundaryEstimation< PointInT, PointNT, PointOutT > > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00084">boundary.h:84</a></div></div>
<div class="ttc" id="apcl__macros_8h_html_ae71449b1cc6e6250b91f539153a7a0d3"><div class="ttname"><a href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a></div><div class="ttdeci">#define M_PI</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00201">pcl_macros.h:201</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a0e22a0a0dd6cb8a7254490e645a10c88"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88">pcl::BoundaryEstimation::getAngleThreshold</a></div><div class="ttdeci">float getAngleThreshold()</div><div class="ttdoc">Get the decision boundary (angle threshold) as set by the user.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00149">boundary.h:149</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_boundary_estimation_html_a46c6b6f8197a56be4651739d2f897084"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084">pcl::BoundaryEstimation::setAngleThreshold</a></div><div class="ttdeci">void setAngleThreshold(float angle)</div><div class="ttdoc">Set the decision boundary (angle threshold) that marks points as boundary or regular.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00142">boundary.h:142</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::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_boundary_estimation_html_a0b89b65423ad0f43f179ae6abd49a0b0"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a0b89b65423ad0f43f179ae6abd49a0b0">pcl::BoundaryEstimation::Ptr</a></div><div class="ttdeci">shared_ptr< BoundaryEstimation< PointInT, PointNT, PointOutT > > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00083">boundary.h:83</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_ab8bae1e67f3069db947d2e873a53e24c"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">pcl::BoundaryEstimation::angle_threshold_</a></div><div class="ttdeci">float angle_threshold_</div><div class="ttdoc">The decision boundary (angle threshold) that marks points as boundary or regular.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00178">boundary.h:178</a></div></div>
<div class="ttc" id="anamespacepcl_html_a868c010207876ae6613dc04f5e9f9e46"><div class="ttname"><a href="namespacepcl.html#a868c010207876ae6613dc04f5e9f9e46">pcl::Vector4fMapConst</a></div><div class="ttdeci">const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00183">point_types.hpp:183</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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