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typedef Feature< PointInT,
pcl::Boundary >::PointCloudOut | PointCloudOut |
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| typedef pcl::PointCloud< PointNT > | PointCloudN |
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| typedef PointCloudN::Ptr | PointCloudNPtr |
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| typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
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typedef boost::shared_ptr
< FeatureFromNormals< PointInT,
PointNT, pcl::Boundary > > | Ptr |
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typedef boost::shared_ptr
< const FeatureFromNormals
< PointInT, PointNT,
pcl::Boundary > > | ConstPtr |
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| typedef PCLBase< PointInT > | BaseClass |
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typedef pcl::search::Search
< PointInT > | KdTree |
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typedef pcl::search::Search
< PointInT >::Ptr | KdTreePtr |
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typedef boost::function< int(size_t,
double, std::vector< int >
&, std::vector< float > &)> | SearchMethod |
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typedef boost::function< int(const
PointCloudIn &cloud, size_t
index, double, std::vector
< int > &, std::vector< float > &)> | SearchMethodSurface |
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| typedef pcl::PointCloud< PointInT > | PointCloud |
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| typedef PointCloud::Ptr | PointCloudPtr |
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| typedef PointCloud::ConstPtr | PointCloudConstPtr |
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| typedef PointIndices::Ptr | PointIndicesPtr |
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| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
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| 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. More...
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| 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. More...
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| void | setAngleThreshold (float angle) |
| | Set the decision boundary (angle threshold) that marks points as boundary or regular. More...
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| float | getAngleThreshold () |
| | Get the decision boundary (angle threshold) as set by the user. More...
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| 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. More...
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| | Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
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| PointCloudNConstPtr | getInputNormals () const |
| | Get a pointer to the normals of the input XYZ point cloud dataset. More...
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| void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| | Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...
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| PointCloudInConstPtr | getSearchSurface () const |
| | Get a pointer to the surface point cloud dataset. More...
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| void | setSearchMethod (const KdTreePtr &tree) |
| | Provide a pointer to the search object. More...
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| KdTreePtr | getSearchMethod () const |
| | Get a pointer to the search method used. More...
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| double | getSearchParameter () const |
| | Get the internal search parameter. More...
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| void | setKSearch (int k) |
| | Set the number of k nearest neighbors to use for the feature estimation. More...
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| int | getKSearch () const |
| | get the number of k nearest neighbors used for the feature estimation. More...
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| void | setRadiusSearch (double radius) |
| | Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
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| double | getRadiusSearch () const |
| | Get the sphere radius used for determining the neighbors. More...
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| void | compute (PointCloudOut &output) |
| | Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
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| void | computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output) |
| | Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| | Provide a pointer to the input dataset. More...
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| PointCloudConstPtr const | getInputCloud () |
| | Get a pointer to the input point cloud dataset. More...
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| void | setIndices (const IndicesPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
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| void | setIndices (const IndicesConstPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
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| void | setIndices (const PointIndicesConstPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
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| void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
| | Set the indices for the points laying within an interest region of the point cloud. More...
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| IndicesPtr const | getIndices () |
| | Get a pointer to the vector of indices used. More...
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| const PointInT & | operator[] (size_t pos) |
| | Override PointCloud operator[] to shorten code. More...
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template<typename PointInT, typename PointNT>
class pcl::BoundaryEstimation< PointInT, PointNT, Eigen::MatrixXf >
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.
- Attention
- The convention for Boundary features is:
- if a query point's nearest neighbors cannot be estimated, the boundary feature property 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 200 of file boundary.h.
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1.8.3.1