Point Cloud Library (PCL)  1.9.1-dev
board.h
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39 
40 #pragma once
41 
42 #include <pcl/point_types.h>
43 #include <pcl/features/feature.h>
44 
45 namespace pcl
46 {
47  /** \brief BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm
48  * for local reference frame estimation as described here:
49  *
50  * - A. Petrelli, L. Di Stefano,
51  * "On the repeatability of the local reference frame for partial shape matching",
52  * 13th International Conference on Computer Vision (ICCV), 2011
53  *
54  * \author Alioscia Petrelli (original), Tommaso Cavallari (PCL port)
55  * \ingroup features
56  */
57  template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
58  class BOARDLocalReferenceFrameEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
59  {
60  public:
61  using Ptr = boost::shared_ptr<BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >;
62  using ConstPtr = boost::shared_ptr<const BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >;
63 
64  /** \brief Constructor. */
66  tangent_radius_ (0.0f),
67  find_holes_ (false),
68  margin_thresh_ (0.85f),
69  check_margin_array_size_ (24),
70  hole_size_prob_thresh_ (0.2f),
71  steep_thresh_ (0.1f)
72  {
73  feature_name_ = "BOARDLocalReferenceFrameEstimation";
74  setCheckMarginArraySize (check_margin_array_size_);
75  }
76 
77  /** \brief Empty destructor */
79 
80  //Getters/Setters
81 
82  /** \brief 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.
83  *
84  * \param[in] radius The search radius for x and y axes. If not set or set to 0 the parameter given with setRadiusSearch is used.
85  */
86  inline void
87  setTangentRadius (float radius)
88  {
89  tangent_radius_ = radius;
90  }
91 
92  /** \brief 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.
93  *
94  * \return The search radius for x and y axes. If set to 0 the parameter given with setRadiusSearch is used.
95  */
96  inline float
98  {
99  return (tangent_radius_);
100  }
101 
102  /** \brief Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the
103  * Reference Frame or not.
104  *
105  * \param[in] find_holes Enable/Disable the search for holes in the support.
106  */
107  inline void
108  setFindHoles (bool find_holes)
109  {
110  find_holes_ = find_holes;
111  }
112 
113  /** \brief Gets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the
114  * Reference Frame or not.
115  *
116  * \return The search for holes in the support is enabled/disabled.
117  */
118  inline bool
119  getFindHoles () const
120  {
121  return (find_holes_);
122  }
123 
124  /** \brief Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.
125  *
126  * \param[in] margin_thresh the percentage of the search radius after which a point is considered a margin point.
127  */
128  inline void
129  setMarginThresh (float margin_thresh)
130  {
131  margin_thresh_ = margin_thresh;
132  }
133 
134  /** \brief Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.
135  *
136  * \return The percentage of the search radius after which a point is considered a margin point.
137  */
138  inline float
140  {
141  return (margin_thresh_);
142  }
143 
144  /** \brief Sets the number of slices in which is divided the margin for the search of missing regions.
145  *
146  * \param[in] size the number of margin slices.
147  */
148  void
150  {
151  check_margin_array_size_ = size;
152 
153  check_margin_array_.clear ();
154  check_margin_array_.resize (check_margin_array_size_);
155 
156  margin_array_min_angle_.clear ();
157  margin_array_min_angle_.resize (check_margin_array_size_);
158 
159  margin_array_max_angle_.clear ();
160  margin_array_max_angle_.resize (check_margin_array_size_);
161 
162  margin_array_min_angle_normal_.clear ();
163  margin_array_min_angle_normal_.resize (check_margin_array_size_);
164 
165  margin_array_max_angle_normal_.clear ();
166  margin_array_max_angle_normal_.resize (check_margin_array_size_);
167  }
168 
169  /** \brief Gets the number of slices in which is divided the margin for the search of missing regions.
170  *
171  * \return the number of margin slices.
172  */
173  inline int
175  {
176  return (check_margin_array_size_);
177  }
178 
179  /** \brief Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle
180  * must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.
181  *
182  * \param[in] prob_thresh the minimum percentage of a circumference after which a hole is considered in the calculation
183  */
184  inline void
185  setHoleSizeProbThresh (float prob_thresh)
186  {
187  hole_size_prob_thresh_ = prob_thresh;
188  }
189 
190  /** \brief Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle
191  * must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.
192  *
193  * \return the minimum percentage of a circumference after which a hole is considered in the calculation
194  */
195  inline float
197  {
198  return (hole_size_prob_thresh_);
199  }
200 
201  /** \brief Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference
202  * 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.
203  *
204  * \param[in] steep_thresh threshold that defines if a missing region contains a point with the most different normal.
205  */
206  inline void
207  setSteepThresh (float steep_thresh)
208  {
209  steep_thresh_ = steep_thresh;
210  }
211 
212  /** \brief Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference
213  * 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.
214  *
215  * \return threshold that defines if a missing region contains a point with the most different normal.
216  */
217  inline float
218  getSteepThresh () const
219  {
220  return (steep_thresh_);
221  }
222 
223  protected:
232 
235 
236  void
238  {
239  setCheckMarginArraySize (check_margin_array_size_);
240  }
241 
242  /** \brief Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals
243  * \param[in] index the index of the point in input_
244  * \param[out] lrf the resultant local reference frame
245  */
246  float
247  computePointLRF (const int &index, Eigen::Matrix3f &lrf);
248 
249  /** \brief Abstract feature estimation method.
250  * \param[out] output the resultant features
251  */
252  void
253  computeFeature (PointCloudOut &output) override;
254 
255  /** \brief Given an axis (with origin axis_origin), return the orthogonal axis directed to point.
256  *
257  * \note axis must be normalized.
258  *
259  * \param[in] axis the axis
260  * \param[in] axis_origin the axis_origin
261  * \param[in] point the point towards which the resulting axis is directed
262  * \param[out] directed_ortho_axis the directed orthogonal axis calculated
263  */
264  void
265  directedOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin,
266  Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis);
267 
268  /** \brief return the angle (in radians) that rotate v1 to v2 with respect to axis .
269  *
270  * \param[in] v1 the first vector
271  * \param[in] v2 the second vector
272  * \param[in] axis the rotation axis. Axis must be normalized and orthogonal to plane defined by v1 and v2.
273  * \return angle
274  */
275  float
276  getAngleBetweenUnitVectors (Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis);
277 
278  /** \brief Disambiguates a normal direction using adjacent normals
279  *
280  * \param[in] normals_cloud a cloud of normals used for the calculation
281  * \param[in] normal_indices the indices of the normals in the cloud that should to be used for the calculation
282  * \param[in,out] normal the normal to disambiguate, the calculation is performed in place
283  */
284  void
285  normalDisambiguation (pcl::PointCloud<PointNT> const &normals_cloud, std::vector<int> const &normal_indices,
286  Eigen::Vector3f &normal);
287 
288  /** \brief Compute Least Square Plane Fitting in a set of 3D points
289  *
290  * \param[in] points Matrix(nPoints,3) of 3D points coordinates
291  * \param[out] center centroid of the distribution of points that belongs to the fitted plane
292  * \param[out] norm normal to the fitted plane
293  */
294  void
295  planeFitting (Eigen::Matrix<float, Eigen::Dynamic, 3> const &points, Eigen::Vector3f &center,
296  Eigen::Vector3f &norm);
297 
298  /** \brief Given a plane (origin and normal) and a point, return the projection of x on plane
299  *
300  * Equivalent to vtkPlane::ProjectPoint()
301  *
302  * \param[in] point the point to project
303  * \param[in] origin_point a point belonging to the plane
304  * \param[in] plane_normal normal of the plane
305  * \param[out] projected_point the projection of the point on the plane
306  */
307  void
308  projectPointOnPlane (Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point,
309  Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point);
310 
311  /** \brief Given an axis, return a random orthogonal axis
312  *
313  * \param[in] axis input axis
314  * \param[out] rand_ortho_axis an axis orthogonal to the input axis and whose direction is random
315  */
316  void
317  randomOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis);
318 
319  /** \brief Check if val1 and val2 are equals.
320  *
321  * \param[in] val1 first number to check.
322  * \param[in] val2 second number to check.
323  * \param[in] zero_float_eps epsilon
324  * \return true if val1 is equal to val2, false otherwise.
325  */
326  inline bool
327  areEquals (float val1, float val2, float zero_float_eps = 1E-8f) const
328  {
329  return (std::abs (val1 - val2) < zero_float_eps);
330  }
331 
332  private:
333  /** \brief Radius used to find tangent axis. */
334  float tangent_radius_;
335 
336  /** \brief If true, check if support is complete or has missing regions because it is too near to mesh borders. */
337  bool find_holes_;
338 
339  /** \brief Threshold that define if a support point is near the margins. */
340  float margin_thresh_;
341 
342  /** \brief Number of slices that divide the support in order to determine if a missing region is present. */
343  int check_margin_array_size_;
344 
345  /** \brief Threshold used to determine a missing region */
346  float hole_size_prob_thresh_;
347 
348  /** \brief Threshold that defines if a missing region contains a point with the most different normal. */
349  float steep_thresh_;
350 
351  std::vector<bool> check_margin_array_;
352  std::vector<float> margin_array_min_angle_;
353  std::vector<float> margin_array_max_angle_;
354  std::vector<float> margin_array_min_angle_normal_;
355  std::vector<float> margin_array_max_angle_normal_;
356  };
357 }
358 
359 #ifdef PCL_NO_PRECOMPILE
360 #include <pcl/features/impl/board.hpp>
361 #endif
bool areEquals(float val1, float val2, float zero_float_eps=1E-8f) const
Check if val1 and val2 are equals.
Definition: board.h:327
~BOARDLocalReferenceFrameEstimation()
Empty destructor.
Definition: board.h:78
std::string feature_name_
The feature name.
Definition: feature.h:222
void planeFitting(Eigen::Matrix< float, Eigen::Dynamic, 3 > const &points, Eigen::Vector3f &center, Eigen::Vector3f &norm)
Compute Least Square Plane Fitting in a set of 3D points.
Definition: board.hpp:131
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
float getTangentRadius() const
Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference ...
Definition: board.h:97
float getHoleSizeProbThresh() const
Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference...
Definition: board.h:196
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: board.h:234
BOARDLocalReferenceFrameEstimation()
Constructor.
Definition: board.h:65
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.
Definition: board.hpp:67
float getMarginThresh() const
Gets the percentage of the search radius (or tangent radius if set) after which a point is considered...
Definition: board.h:139
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 .
Definition: board.hpp:84
int getCheckMarginArraySize() const
Gets the number of slices in which is divided the margin for the search of missing regions...
Definition: board.h:174
boost::shared_ptr< const BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition: board.h:62
void setMarginThresh(float margin_thresh)
Sets the percentage of the search radius (or tangent radius if set) after which a point is considered...
Definition: board.h:129
void randomOrthogonalAxis(Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis)
Given an axis, return a random orthogonal axis.
Definition: board.hpp:100
void setFindHoles(bool find_holes)
Sets whether holes in the margin of the support, for each point, are searched and accounted for in th...
Definition: board.h:108
bool getFindHoles() const
Gets whether holes in the margin of the support, for each point, are searched and accounted for in th...
Definition: board.h:119
boost::shared_ptr< BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition: board.h:61
float getSteepThresh() const
Gets the minimum steepness that the normals of the points situated on the borders of the hole...
Definition: board.h:218
void setSteepThresh(float steep_thresh)
Sets the minimum steepness that the normals of the points situated on the borders of the hole...
Definition: board.h:207
void setHoleSizeProbThresh(float prob_thresh)
Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference...
Definition: board.h:185
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 nor...
Definition: board.hpp:197
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.
Definition: board.hpp:49
Feature represents the base feature class.
Definition: feature.h:105
BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for lo...
Definition: board.h:58
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: board.h:233
void normalDisambiguation(pcl::PointCloud< PointNT > const &normals_cloud, std::vector< int > const &normal_indices, Eigen::Vector3f &normal)
Disambiguates a normal direction using adjacent normals.
Definition: board.hpp:172
void computeFeature(PointCloudOut &output) override
Abstract feature estimation method.
Definition: board.hpp:593
void setTangentRadius(float radius)
Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference ...
Definition: board.h:87
void setCheckMarginArraySize(int size)
Sets the number of slices in which is divided the margin for the search of missing regions...
Definition: board.h:149