BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here:. More...
#include <pcl/features/board.h>
Public Types | |
| typedef boost::shared_ptr < BOARDLocalReferenceFrameEstimation < PointInT, PointNT, PointOutT > > | Ptr |
| typedef boost::shared_ptr < const BOARDLocalReferenceFrameEstimation < PointInT, PointNT, PointOutT > > | ConstPtr |
Public Member Functions | |
| BOARDLocalReferenceFrameEstimation () | |
| Constructor. | |
| virtual | ~BOARDLocalReferenceFrameEstimation () |
| Empty destructor. | |
| void | setTangentRadius (float radius) |
| Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point. | |
| float | getTangentRadius () const |
| Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point. | |
| void | setFindHoles (bool find_holes) |
| Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not. | |
| bool | getFindHoles () const |
| Gets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not. | |
| void | setMarginThresh (float margin_thresh) |
| Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin. | |
| float | getMarginThresh () const |
| Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin. | |
| void | setCheckMarginArraySize (int size) |
| Sets the number of slices in which is divided the margin for the search of missing regions. | |
| int | getCheckMarginArraySize () const |
| Gets the number of slices in which is divided the margin for the search of missing regions. | |
| void | setHoleSizeProbThresh (float prob_thresh) |
| Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame. | |
| float | getHoleSizeProbThresh () const |
| Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame. | |
| void | setSteepThresh (float steep_thresh) |
| Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame. | |
| float | getSteepThresh () const |
| Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame. | |
Protected Types | |
| typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
Protected Member Functions | |
| void | resetData () |
| float | computePointLRF (const int &index, Eigen::Matrix3f &lrf) |
| Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals. | |
| virtual void | computeFeature (PointCloudOut &output) |
| Abstract feature estimation method. | |
| void | directedOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin, Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis) |
| Given an axis (with origin axis_origin), return the orthogonal axis directed to point. | |
| float | getAngleBetweenUnitVectors (Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis) |
| return the angle (in radians) that rotate v1 to v2 with respect to axis . | |
| void | normalDisambiguation (pcl::PointCloud< PointNT > const &normals_cloud, std::vector< int > const &normal_indices, Eigen::Vector3f &normal) |
| Disambiguates a normal direction using adjacent normals. | |
| void | planeFitting (Eigen::Matrix< float, Eigen::Dynamic, 3 > const &points, Eigen::Vector3f ¢er, Eigen::Vector3f &norm) |
| Compute Least Square Plane Fitting in a set of 3D points. | |
| void | projectPointOnPlane (Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point, Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point) |
| Given a plane (origin and normal) and a point, return the projection of x on plane. | |
| void | randomOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis) |
| Given an axis, return a random orthogonal axis. | |
| bool | areEquals (float val1, float val2, float zero_float_eps=1E-8f) const |
| Check if val1 and val2 are equals. | |
BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here:.
Definition at line 59 of file board.h.
| typedef boost::shared_ptr<const BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::ConstPtr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::PointCloudIn [protected] |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::PointCloudOut [protected] |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef boost::shared_ptr<BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::Ptr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation | ( | ) | [inline] |
Constructor.
Definition at line 66 of file board.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setCheckMarginArraySize().
| virtual pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::~BOARDLocalReferenceFrameEstimation | ( | ) | [inline, virtual] |
| bool pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::areEquals | ( | float | val1, | |
| float | val2, | |||
| float | zero_float_eps = 1E-8f | |||
| ) | const [inline, protected] |
Check if val1 and val2 are equals.
| [in] | val1 | first number to check. |
| [in] | val2 | second number to check. |
| [in] | zero_float_eps | epsilon |
Definition at line 333 of file board.h.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::randomOrthogonalAxis().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [inline, protected, virtual] |
Abstract feature estimation method.
| [out] | output | the resultant features |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 596 of file board.hpp.
References pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF(), pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::Feature< PointInT, PointOutT >::getKSearch(), pcl::PCLBase< PointInT >::indices_, pcl::PointCloud< PointT >::is_dense, and pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::resetData().
| float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF | ( | const int & | index, | |
| Eigen::Matrix3f & | lrf | |||
| ) | [inline, protected] |
Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals.
| [in] | index | the index of the point in input_ |
| [out] | lrf | the resultant local reference frame |
Definition at line 197 of file board.hpp.
References pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::directedOrthogonalAxis(), pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getAngleBetweenUnitVectors(), pcl::PCLBase< PointInT >::input_, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::normalDisambiguation(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::normals_, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::planeFitting(), pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::randomOrthogonalAxis(), pcl::Feature< PointInT, PointOutT >::search_parameter_, pcl::Feature< PointInT, PointOutT >::searchForNeighbors(), and pcl::Feature< PointInT, PointOutT >::surface_.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computeFeature().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::directedOrthogonalAxis | ( | Eigen::Vector3f const & | axis, | |
| Eigen::Vector3f const & | axis_origin, | |||
| Eigen::Vector3f const & | point, | |||
| Eigen::Vector3f & | directed_ortho_axis | |||
| ) | [inline, protected] |
Given an axis (with origin axis_origin), return the orthogonal axis directed to point.
| [in] | axis | the axis |
| [in] | axis_origin | the axis_origin |
| [in] | point | the point towards which the resulting axis is directed |
| [out] | directed_ortho_axis | the directed orthogonal axis calculated |
Definition at line 49 of file board.hpp.
References pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::projectPointOnPlane().
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF().
| float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getAngleBetweenUnitVectors | ( | Eigen::Vector3f const & | v1, | |
| Eigen::Vector3f const & | v2, | |||
| Eigen::Vector3f const & | axis | |||
| ) | [inline, protected] |
return the angle (in radians) that rotate v1 to v2 with respect to axis .
| [in] | v1 | the first vector |
| [in] | v2 | the second vector |
| [in] | axis | the rotation axis. Axis must be normalized and orthogonal to plane defined by v1 and v2. |
Definition at line 84 of file board.hpp.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF().
| int pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getCheckMarginArraySize | ( | ) | const [inline] |
| bool pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getFindHoles | ( | ) | const [inline] |
| float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getHoleSizeProbThresh | ( | ) | const [inline] |
Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.
| float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getMarginThresh | ( | ) | const [inline] |
| float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getSteepThresh | ( | ) | const [inline] |
Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.
| float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getTangentRadius | ( | ) | const [inline] |
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::normalDisambiguation | ( | pcl::PointCloud< PointNT > const & | normals_cloud, | |
| std::vector< int > const & | normal_indices, | |||
| Eigen::Vector3f & | normal | |||
| ) | [inline, protected] |
Disambiguates a normal direction using adjacent normals.
| [in] | normals_cloud | a cloud of normals used for the calculation |
| [in] | normal_indices | the indices of the normals in the cloud that should to be used for the calculation |
| [in,out] | normal | the normal to disambiguate, the calculation is performed in place |
Definition at line 172 of file board.hpp.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::planeFitting | ( | Eigen::Matrix< float, Eigen::Dynamic, 3 > const & | points, | |
| Eigen::Vector3f & | center, | |||
| Eigen::Vector3f & | norm | |||
| ) | [inline, protected] |
Compute Least Square Plane Fitting in a set of 3D points.
| [in] | points | Matrix(nPoints,3) of 3D points coordinates |
| [out] | center | centroid of the distribution of points that belongs to the fitted plane |
| [out] | norm | normal to the fitted plane |
Definition at line 131 of file board.hpp.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::projectPointOnPlane | ( | Eigen::Vector3f const & | point, | |
| Eigen::Vector3f const & | origin_point, | |||
| Eigen::Vector3f const & | plane_normal, | |||
| Eigen::Vector3f & | projected_point | |||
| ) | [inline, protected] |
Given a plane (origin and normal) and a point, return the projection of x on plane.
Equivalent to vtkPlane::ProjectPoint()
| [in] | point | the point to project |
| [in] | origin_point | a point belonging to the plane |
| [in] | plane_normal | normal of the plane |
| [out] | projected_point | the projection of the point on the plane |
Definition at line 67 of file board.hpp.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::directedOrthogonalAxis().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::randomOrthogonalAxis | ( | Eigen::Vector3f const & | axis, | |
| Eigen::Vector3f & | rand_ortho_axis | |||
| ) | [inline, protected] |
Given an axis, return a random orthogonal axis.
| [in] | axis | input axis |
| [out] | rand_ortho_axis | an axis orthogonal to the input axis and whose direction is random |
Definition at line 100 of file board.hpp.
References pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::areEquals().
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::resetData | ( | ) | [inline, protected] |
Definition at line 243 of file board.h.
References pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setCheckMarginArraySize().
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computeFeature().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setCheckMarginArraySize | ( | int | size | ) | [inline] |
Sets the number of slices in which is divided the margin for the search of missing regions.
| [in] | size | the number of margin slices. |
Definition at line 155 of file board.h.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation(), and pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::resetData().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setFindHoles | ( | bool | find_holes | ) | [inline] |
Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not.
| [in] | find_holes | Enable/Disable the search for holes in the support. |
Definition at line 114 of file board.h.
Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf().
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setHoleSizeProbThresh | ( | float | prob_thresh | ) | [inline] |
Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.
| [in] | prob_thresh | the minimum percentage of a circumference after which a hole is considered in the calculation |
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setMarginThresh | ( | float | margin_thresh | ) | [inline] |
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setSteepThresh | ( | float | steep_thresh | ) | [inline] |
Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.
| [in] | steep_thresh | threshold that defines if a missing region contains a point with the most different normal. |
| void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setTangentRadius | ( | float | radius | ) | [inline] |
