Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Types | Protected Member Functions
pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > Class Template Reference

BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here: More...

#include <pcl/features/board.h>

+ Inheritance diagram for pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >:

Public Types

typedef boost::shared_ptr
< BOARDLocalReferenceFrameEstimation
< PointInT, PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const
BOARDLocalReferenceFrameEstimation
< PointInT, PointNT, PointOutT > > 
ConstPtr
 
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
typedef pcl::PointCloud< PointNT > PointCloudN
 
typedef PointCloudN::Ptr PointCloudNPtr
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef boost::shared_ptr
< FeatureFromNormals< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const FeatureFromNormals
< PointInT, PointNT, PointOutT > > 
ConstPtr
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
typedef PCLBase< PointInT > BaseClass
 
typedef boost::shared_ptr
< Feature< PointInT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const Feature< PointInT,
PointOutT > > 
ConstPtr
 
typedef pcl::search::Search
< PointInT > 
KdTree
 
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud
< PointOutT > 
PointCloudOut
 
typedef boost::function< int(size_t,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethod
 
typedef boost::function< int(const
PointCloudIn &cloud, size_t
index, double, std::vector
< int > &, std::vector< float > &)> 
SearchMethodSurface
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 BOARDLocalReferenceFrameEstimation ()
 Constructor. More...
 
virtual ~BOARDLocalReferenceFrameEstimation ()
 Empty destructor. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
void setCheckMarginArraySize (int size)
 Sets the number of slices in which is divided the margin for the search of missing regions. More...
 
int getCheckMarginArraySize () const
 Gets the number of slices in which is divided the margin for the search of missing regions. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
 FeatureFromNormals ()
 Empty constructor. More...
 
virtual ~FeatureFromNormals ()
 Empty destructor. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
PointCloudNConstPtr getInputNormals () const
 Get a pointer to the normals of the input XYZ point cloud dataset. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 Feature ()
 Empty constructor. More...
 
virtual ~Feature ()
 Empty destructor. More...
 
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...
 
PointCloudInConstPtr getSearchSurface () const
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch () const
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
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...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual 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...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

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. More...
 
virtual void computeFeature (PointCloudOut &output)
 Abstract feature estimation method. More...
 
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. More...
 
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 . More...
 
void normalDisambiguation (pcl::PointCloud< PointNT > const &normals_cloud, std::vector< int > const &normal_indices, Eigen::Vector3f &normal)
 Disambiguates a normal direction using adjacent normals. More...
 
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. More...
 
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. More...
 
void randomOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis)
 Given an axis, return a random orthogonal axis. More...
 
bool areEquals (float val1, float val2, float zero_float_eps=1E-8f) const
 Check if val1 and val2 are equals. More...
 
- Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
int searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
int searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
class pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >

BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here:

Author
Alioscia Petrelli (original), Tommaso Cavallari (PCL port)

Definition at line 59 of file board.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
typedef boost::shared_ptr<const BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 63 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::PointCloudIn
protected

Definition at line 239 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::PointCloudOut
protected

Definition at line 240 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
typedef boost::shared_ptr<BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 62 of file board.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation ( )
inline
template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
virtual pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::~BOARDLocalReferenceFrameEstimation ( )
inlinevirtual

Empty destructor.

Definition at line 84 of file board.h.

Member Function Documentation

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
bool pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::areEquals ( float  val1,
float  val2,
float  zero_float_eps = 1E-8f 
) const
inlineprotected

Check if val1 and val2 are equals.

Parameters
[in]val1first number to check.
[in]val2second number to check.
[in]zero_float_epsepsilon
Returns
true if val1 is equal to val2, false otherwise.

Definition at line 333 of file board.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output)
protectedvirtual

Abstract feature estimation method.

Parameters
[out]outputthe resultant features

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 596 of file board.hpp.

References pcl::PointCloud< T >::is_dense.

template<typename PointInT , typename PointNT , typename PointOutT >
float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF ( const int &  index,
Eigen::Matrix3f &  lrf 
)
protected

Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals.

Parameters
[in]indexthe index of the point in input_
[out]lrfthe resultant local reference frame

Definition at line 197 of file board.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
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 
)
protected

Given an axis (with origin axis_origin), return the orthogonal axis directed to point.

Note
axis must be normalized.
Parameters
[in]axisthe axis
[in]axis_originthe axis_origin
[in]pointthe point towards which the resulting axis is directed
[out]directed_ortho_axisthe directed orthogonal axis calculated

Definition at line 49 of file board.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getAngleBetweenUnitVectors ( Eigen::Vector3f const &  v1,
Eigen::Vector3f const &  v2,
Eigen::Vector3f const &  axis 
)
protected

return the angle (in radians) that rotate v1 to v2 with respect to axis .

Parameters
[in]v1the first vector
[in]v2the second vector
[in]axisthe rotation axis. Axis must be normalized and orthogonal to plane defined by v1 and v2.
Returns
angle

Definition at line 84 of file board.hpp.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
int pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getCheckMarginArraySize ( ) const
inline

Gets the number of slices in which is divided the margin for the search of missing regions.

Returns
the number of margin slices.

Definition at line 180 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
bool pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getFindHoles ( ) const
inline

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.

Returns
The search for holes in the support is enabled/disabled.

Definition at line 125 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
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.

Returns
the minimum percentage of a circumference after which a hole is considered in the calculation

Definition at line 202 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getMarginThresh ( ) const
inline

Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.

Returns
The percentage of the search radius after which a point is considered a margin point.

Definition at line 145 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
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.

Returns
threshold that defines if a missing region contains a point with the most different normal.

Definition at line 224 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
float pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::getTangentRadius ( ) const
inline

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.

Returns
The search radius for x and y axes. If set to 0 the parameter given with setRadiusSearch is used.

Definition at line 103 of file board.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::normalDisambiguation ( pcl::PointCloud< PointNT > const &  normals_cloud,
std::vector< int > const &  normal_indices,
Eigen::Vector3f &  normal 
)
protected

Disambiguates a normal direction using adjacent normals.

Parameters
[in]normals_clouda cloud of normals used for the calculation
[in]normal_indicesthe indices of the normals in the cloud that should to be used for the calculation
[in,out]normalthe normal to disambiguate, the calculation is performed in place

Definition at line 172 of file board.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::planeFitting ( Eigen::Matrix< float, Eigen::Dynamic, 3 > const &  points,
Eigen::Vector3f &  center,
Eigen::Vector3f &  norm 
)
protected

Compute Least Square Plane Fitting in a set of 3D points.

Parameters
[in]pointsMatrix(nPoints,3) of 3D points coordinates
[out]centercentroid of the distribution of points that belongs to the fitted plane
[out]normnormal to the fitted plane

Definition at line 131 of file board.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
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 
)
protected

Given a plane (origin and normal) and a point, return the projection of x on plane.

Equivalent to vtkPlane::ProjectPoint()

Parameters
[in]pointthe point to project
[in]origin_pointa point belonging to the plane
[in]plane_normalnormal of the plane
[out]projected_pointthe projection of the point on the plane

Definition at line 67 of file board.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::randomOrthogonalAxis ( Eigen::Vector3f const &  axis,
Eigen::Vector3f &  rand_ortho_axis 
)
protected

Given an axis, return a random orthogonal axis.

Parameters
[in]axisinput axis
[out]rand_ortho_axisan axis orthogonal to the input axis and whose direction is random

Definition at line 100 of file board.hpp.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::resetData ( )
inlineprotected
template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
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.

Parameters
[in]sizethe 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().

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
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.

Parameters
[in]find_holesEnable/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().

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
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.

Parameters
[in]prob_threshthe minimum percentage of a circumference after which a hole is considered in the calculation

Definition at line 191 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setMarginThresh ( float  margin_thresh)
inline

Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.

Parameters
[in]margin_threshthe percentage of the search radius after which a point is considered a margin point.

Definition at line 135 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
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.

Parameters
[in]steep_threshthreshold that defines if a missing region contains a point with the most different normal.

Definition at line 213 of file board.h.

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setTangentRadius ( float  radius)
inline

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.

Parameters
[in]radiusThe search radius for x and y axes. If not set or set to 0 the parameter given with setRadiusSearch is used.

Definition at line 93 of file board.h.


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