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pcl::BoundaryEstimation< PointInT, PointNT, PointOutT > Class Template Reference

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

#include <pcl/features/boundary.h>

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

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 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

 BoundaryEstimation ()
 Empty constructor. More...
 
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...
 
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...
 
void setAngleThreshold (float angle)
 Set the decision boundary (angle threshold) that marks points as boundary or regular. More...
 
float getAngleThreshold ()
 Get the decision boundary (angle threshold) as set by the user. More...
 
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...
 
- 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 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 () 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...
 

Protected Attributes

float angle_threshold_
 The decision boundary (angle threshold) that marks points as boundary or regular. More...
 
- 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>
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:

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

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

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

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)
protectedvirtual

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]outputthe 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::PointCloud< T >::is_dense, pcl::isFinite(), and pcl::PointCloud< T >::points.

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_coeffthe plane coefficients (containing the plane normal)
[out]uthe resultant u direction
[out]vthe resultant v direction

Definition at line 161 of file boundary.h.

Referenced by 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,
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.

Note
A coordinate system u-v-n must be computed a-priori using getCoordinateSystemOnPlane
Parameters
[in]clouda pointer to the input point cloud
[in]q_idxthe index of the query point in cloud
[in]indicesthe estimated point neighbors of the query point
[in]uthe u direction
[in]vthe v direction
[in]angle_thresholdthe threshold angle (default $\pi / 2.0$)

Definition at line 49 of file boundary.hpp.

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

Referenced by 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 
)

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]clouda pointer to the input point cloud
[in]q_pointa pointer to the querry point
[in]indicesthe estimated point neighbors of the query point
[in]uthe u direction
[in]vthe v direction
[in]angle_thresholdthe threshold angle (default $\pi / 2.0$)

Definition at line 60 of file boundary.hpp.

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

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]anglethe 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 >::getAngleThreshold(), and pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::setAngleThreshold().


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