BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle criterion. The code makes use of the estimated surface normals at each point in the input dataset. More...

#include <boundary.h>

Inheritance diagram for pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >:

[legend]

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
	BoundaryEstimation ()
	Empty constructor. The angular threshold angle_threshold_ is set to M_PI / 2.0.
float	getAngleThreshold ()
	Get the decision boundary (angle threshold) as set by the user.
void	getCoordinateSystemOnPlane (const PointNT &p_coeff, Eigen::Vector4f &u, Eigen::Vector4f &v)
	Get a u-v-n coordinate system that lies on a plane defined by its normal.
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)
	Check whether a point is a boundary point in a planar patch of projected points given by indices.
bool	isBoundaryPoint (const pcl::PointCloud< PointInT > &cloud, const PointInT &q_point, const std::vector< int > &indices, const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold)
	Check whether a point is a boundary point in a planar patch of projected points given by indices.
void	setAngleThreshold (float angle)
	Set the decision boundary (angle threshold) that marks points as boundary or regular. (default $\pi / 2.0$ )
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate whether a set of points is lying on surface boundaries using an angle criterion for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
Protected Attributes
float	angle_threshold_
	The decision boundary (angle threshold) that marks points as boundary or regular. (default $\pi / 2.0$ )
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >

BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle criterion. The code makes use of the estimated surface normals at each point in the input dataset.

Here's an example for estimating boundary points for a PointXYZ point cloud:

 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
 // fill in the cloud data here
 
 pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
 // estimate normals and fill in \a normals

 pcl::PointCloud<pcl::Boundary> boundaries;
 pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> est;
 est.setInputCloud (cloud);
 est.setInputNormals (normals);
 est.setRadiusSearch (0.02);   // 2cm radius
 est.setSearchMethod (typename pcl::search::KdTree<PointXYZ>::Ptr (new pcl::search::KdTree<PointXYZ>)
 est.compute (boundaries);

Attention:

The convention for Boundary features is:

if a query point's nearest neighbors cannot be estimated, the boundary feature will be set to NaN (not a number)
it is impossible to estimate a boundary property for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its boundary feature property set to NaN.

Author:: Radu B. Rusu

Definition at line 80 of file boundary.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 94 of file boundary.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::BoundaryEstimation ( ) [inline]

Empty constructor. The angular threshold angle_threshold_ is set to M_PI / 2.0.

Definition at line 100 of file boundary.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut & output ) [protected, virtual]

Estimate whether a set of points is lying on surface boundaries using an angle criterion for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

[out] output the resultant point cloud model dataset that contains boundary point estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 114 of file boundary.hpp.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, private, virtual]

Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Parameters:

[out] output the output point cloud

Implements pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::BoundaryEstimation< PointInT, PointNT, Eigen::MatrixXf >.

Definition at line 182 of file boundary.h.

template<typename PointInT, typename PointNT, typename PointOutT>

float pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::getAngleThreshold ( ) [inline]

Get the decision boundary (angle threshold) as set by the user.

Definition at line 146 of file boundary.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::getCoordinateSystemOnPlane	(	const PointNT &	p_coeff,
		Eigen::Vector4f &	u,
		Eigen::Vector4f &	v
	)		`[inline]`

Get a u-v-n coordinate system that lies on a plane defined by its normal.

Parameters:

[in]	p_coeff	the plane coefficients (containing the plane normal)
[out]	u	the resultant u direction
[out]	v	the resultant v direction

Definition at line 157 of file boundary.h.

template<typename PointInT, typename PointNT , typename PointOutT >

bool pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::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
	)

Check whether a point is a boundary point in a planar patch of projected points given by indices.

Note:: A coordinate system u-v-n must be computed a-priori using getCoordinateSystemOnPlane

Parameters:

[in]	cloud	a pointer to the input point cloud
[in]	q_idx	the index of the query point in cloud
[in]	indices	the estimated point neighbors of the query point
[in]	u	the u direction
[in]	v	the v direction
[in]	angle_threshold	the threshold angle (default $\pi / 2.0$ )

Definition at line 48 of file boundary.hpp.

template<typename PointInT, typename PointNT , typename PointOutT >

bool pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::isBoundaryPoint	(	const pcl::PointCloud< PointInT > &	cloud,
		const PointInT &	q_point,
		const std::vector< int > &	indices,
		const Eigen::Vector4f &	u,
		const Eigen::Vector4f &	v,
		const float	angle_threshold
	)

Check whether a point is a boundary point in a planar patch of projected points given by indices.

Note:: A coordinate system u-v-n must be computed a-priori using getCoordinateSystemOnPlane

Parameters:

[in]	cloud	a pointer to the input point cloud
[in]	q_point	a pointer to the querry point
[in]	indices	the estimated point neighbors of the query point
[in]	u	the u direction
[in]	v	the v direction
[in]	angle_threshold	the threshold angle (default $\pi / 2.0$ )

Definition at line 59 of file boundary.hpp.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::setAngleThreshold ( float angle ) [inline]

Set the decision boundary (angle threshold) that marks points as boundary or regular. (default $\pi / 2.0$ )

Parameters:

[in] angle the angle threshold

Definition at line 139 of file boundary.h.

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

float pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::angle_threshold_ [protected]

The decision boundary (angle threshold) that marks points as boundary or regular. (default $\pi / 2.0$ )

Definition at line 175 of file boundary.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT> class pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >