pcl::BoundaryEstimation< PointInT, PointNT, PointOutT > Class Template Reference
[Module features]

BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle criterion. More...

#include <pcl/features/boundary.h>

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List of all members.

Public Types

typedef boost::shared_ptr
< BoundaryEstimation< PointInT,
PointNT, PointOutT > > 		Ptr
typedef boost::shared_ptr
< const BoundaryEstimation
< PointInT, PointNT, PointOutT > > 		ConstPtr
typedef Feature< PointInT,
PointOutT >::PointCloudOut 		PointCloudOut

Public Member Functions

 BoundaryEstimation ()
 Empty constructor.
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.
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.

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.

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 81 of file boundary.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT>
typedef boost::shared_ptr<const BoundaryEstimation<PointInT, PointNT, PointOutT> > pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::ConstPtr

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

Definition at line 85 of file boundary.h.

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 98 of file boundary.h.

template<typename PointInT, typename PointNT, typename PointOutT>
typedef boost::shared_ptr<BoundaryEstimation<PointInT, PointNT, PointOutT> > pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::Ptr

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

Definition at line 84 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 104 of file boundary.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut &  output  )  [inline, 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 117 of file boundary.hpp.

References pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::angle_threshold_, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::getCoordinateSystemOnPlane(), pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::isBoundaryPoint(), pcl::isFinite(), pcl::Feature< PointInT, PointOutT >::k_, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::normals_, pcl::PointCloud< PointT >::points, pcl::Feature< PointInT, PointOutT >::search_parameter_, pcl::Feature< PointInT, PointOutT >::searchForNeighbors(), and pcl::Feature< PointInT, PointOutT >::surface_.

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 150 of file boundary.h.

References pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::angle_threshold_.

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 161 of file boundary.h.

Referenced by pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::computeFeature(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getBoundaryPoints().

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 
) [inline]

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 60 of file boundary.hpp.

References pcl::PointCloud< PointT >::points.

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 
) [inline]

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 49 of file boundary.hpp.

References pcl::PointCloud< PointT >::points.

Referenced by pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::computeFeature(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getBoundaryPoints().

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 143 of file boundary.h.

References pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::angle_threshold_.

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 179 of file boundary.h.

Referenced by pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::getAngleThreshold(), and pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::setAngleThreshold().

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