boundary.h

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/*
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 * $Id: boundary.h 35826 2011-02-08 00:59:32Z rusu $
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#ifndef PCL_BOUNDARY_H_
#define PCL_BOUNDARY_H_

#include <pcl/features/feature.h>
#include <Eigen/Geometry>

namespace pcl
{
  inline float 
  getAngle2D (const float point[2])
  {
    float rad = atan2(point[1], point[0]);
    if (rad < 0)
      rad += 2 * M_PI;
    return (rad);
  }


  template <typename PointInT, typename PointNT, typename PointOutT>
  class BoundaryEstimation: public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

    public:
      BoundaryEstimation () : angle_threshold_ (M_PI/2.0) 
      {
        feature_name_ = "BoundaryEstimation";
      };

      inline void 
      getCoordinateSystemOnPlane (const PointNT &p_coeff, 
                                  Eigen::Vector3f &u, Eigen::Vector3f &v)
      {
        pcl::Vector3fMapConst p_coeff_v = p_coeff.getNormalVector3fMap ();
        v = p_coeff_v.unitOrthogonal ();
        u = p_coeff_v.cross (v);
      }

      bool isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud, int q_idx, const std::vector<int> &indices, const Eigen::Vector3f &u, const Eigen::Vector3f &v, float angle_threshold);

      bool isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud, const PointInT &q_point, const std::vector<int> &indices, const Eigen::Vector3f &u, const Eigen::Vector3f &v, float angle_threshold);

      float angle_threshold_;

    protected:

      void computeFeature (PointCloudOut &output);
  };
}

#endif  //#ifndef PCL_BOUNDARY_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:21 2013