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<div class="title">boundary.hpp</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/boundary.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <pcl/common/point_tests.h></span> <span class="comment">// for pcl::isFinite</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="preprocessor">#include <cfloat></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"></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"></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> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c"> 51</a></span> <a class="code" href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint</a> (</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointInT></a> &cloud, <span class="keywordtype">int</span> q_idx, </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">const</span> std::vector<int> &indices, </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">const</span> Eigen::Vector4f &u, <span class="keyword">const</span> Eigen::Vector4f &v, </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">return</span> (isBoundaryPoint (cloud, cloud[q_idx], indices, u, v, angle_threshold));</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"></span> </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"></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> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#aa8eda9eefbf698dbe13f5d31ab37483f"> 62</a></span> <a class="code" href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint</a> (</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointInT></a> &cloud, <span class="keyword">const</span> PointInT &q_point, </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">const</span> std::vector<int> &indices, </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">const</span> Eigen::Vector4f &u, <span class="keyword">const</span> Eigen::Vector4f &v, </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold)</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">if</span> (indices.size () < 3)</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">if</span> (!std::isfinite (q_point.x) || !std::isfinite (q_point.y) || !std::isfinite (q_point.z))</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// Compute the angles between each neighboring point and the query point itself</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  std::vector<float> angles (indices.size ());</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">float</span> max_dif = FLT_MIN, dif;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">int</span> cp = 0;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &index : indices)</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  {</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">if</span> (!std::isfinite (cloud[index].x) || </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  !std::isfinite (cloud[index].y) || </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  !std::isfinite (cloud[index].z))</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">continue</span>;</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>  Eigen::Vector4f delta = cloud[index].getVector4fMap () - q_point.getVector4fMap ();</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">if</span> (delta == Eigen::Vector4f::Zero())</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  angles[cp++] = std::atan2 (v.dot (delta), u.dot (delta)); <span class="comment">// the angles are fine between -PI and PI too</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">if</span> (cp == 0)</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  angles.resize (cp);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  std::sort (angles.begin (), angles.end ());</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="comment">// Compute the maximal angle difference between two consecutive angles</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < angles.size () - 1; ++i)</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>  dif = angles[i + 1] - angles[i];</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">if</span> (max_dif < dif)</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  max_dif = dif;</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>  <span class="comment">// Get the angle difference between the last and the first</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  dif = 2 * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) - angles[angles.size () - 1] + angles[0];</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">if</span> (max_dif < dif)</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  max_dif = dif;</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>  <span class="comment">// Check results</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">return</span> (max_dif > angle_threshold);</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> }</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"></span> </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"></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> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908"> 116</a></span> <a class="code" href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908">pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::computeFeature</a> (<a class="code" href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">PointCloudOut</a> &output)</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> {</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="comment">// Allocate enough space to hold the results</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="comment">// \note This resize is irrelevant for a radiusSearch ().</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  std::vector<int> nn_indices (k_);</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  std::vector<float> nn_dists (k_);</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>  Eigen::Vector4f u = Eigen::Vector4f::Zero (), v = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  output.is_dense = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="comment">// Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">if</span> (input_->is_dense)</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  {</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">for</span> (std::size_t idx = 0; idx < indices_->size (); ++idx)</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  {</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">if</span> (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  output[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="comment">// Obtain a coordinate system on the least-squares plane</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="comment">//v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="comment">//u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);</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>  <span class="comment">// Estimate whether the point is lying on a boundary surface or not</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  {</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">for</span> (std::size_t idx = 0; idx < indices_->size (); ++idx)</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="keywordflow">if</span> (!<a class="code" href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">isFinite</a> ((*input_)[(*indices_)[idx]]) ||</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</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>  output[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  }</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="comment">// Obtain a coordinate system on the least-squares plane</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="comment">//v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="comment">//u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="comment">// Estimate whether the point is lying on a boundary surface or not</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  }</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  }</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> }</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  </div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="preprocessor">#define PCL_INSTANTIATE_BoundaryEstimation(PointInT,PointNT,PointOutT) template class PCL_EXPORTS pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>;</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="anamespacepcl_html_a2adb775f2d234f57c4e7c1209eb95a1d"><div class="ttname"><a href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">pcl::isFinite</a></div><div class="ttdeci">bool isFinite(const PointT &pt)</div><div class="ttdoc">Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...</div><div class="ttdef"><b>Definition:</b> <a href="point__tests_8h_source.html#l00055">point_tests.h:55</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< PointInT ></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_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="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>
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