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pcl::RangeImageBorderExtractor Class Reference

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background. More...

#include <pcl/features/range_image_border_extractor.h>

+ Inheritance diagram for pcl::RangeImageBorderExtractor:

Classes

struct  LocalSurface
 Stores some information extracted from the neighborhood of a point. More...
 
struct  Parameters
 Parameters used in this class. More...
 
struct  ShadowBorderIndices
 Stores the indices of the shadow border corresponding to obstacle borders. More...
 

Public Types

typedef boost::shared_ptr
< RangeImageBorderExtractor
Ptr
 
typedef boost::shared_ptr
< const
RangeImageBorderExtractor
ConstPtr
 
typedef Feature
< PointWithRange,
BorderDescription
BaseClass
 
- Public Types inherited from pcl::Feature< PointWithRange, BorderDescription >
typedef PCLBase< PointWithRangeBaseClass
 
typedef boost::shared_ptr
< Feature< PointWithRange,
BorderDescription > > 
Ptr
 
typedef boost::shared_ptr
< const Feature
< PointWithRange,
BorderDescription > > 
ConstPtr
 
typedef pcl::search::Search
< PointWithRange
KdTree
 
typedef pcl::search::Search
< PointWithRange >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud
< PointWithRange
PointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud
< BorderDescription
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< PointWithRange >
typedef pcl::PointCloud
< PointWithRange
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

 RangeImageBorderExtractor (const RangeImage *range_image=NULL)
 Constructor. More...
 
virtual ~RangeImageBorderExtractor ()
 Destructor. More...
 
void setRangeImage (const RangeImage *range_image)
 Provide a pointer to the range image. More...
 
void clearData ()
 Erase all data calculated for the current range image. More...
 
float * getAnglesImageForBorderDirections ()
 Get the 2D directions in the range image from the border directions - probably mainly useful for visualization. More...
 
float * getAnglesImageForSurfaceChangeDirections ()
 Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization. More...
 
void compute (PointCloudOut &output)
 Overwrite the compute function of the base class. More...
 
ParametersgetParameters ()
 
bool hasRangeImage () const
 
const RangeImagegetRangeImage () const
 
float * getBorderScoresLeft ()
 
float * getBorderScoresRight ()
 
float * getBorderScoresTop ()
 
float * getBorderScoresBottom ()
 
LocalSurface ** getSurfaceStructure ()
 
PointCloudOutgetBorderDescriptions ()
 
ShadowBorderIndices ** getShadowBorderInformations ()
 
Eigen::Vector3f ** getBorderDirections ()
 
float * getSurfaceChangeScores ()
 
Eigen::Vector3f * getSurfaceChangeDirections ()
 
- Public Member Functions inherited from pcl::Feature< PointWithRange, BorderDescription >
 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< PointWithRange >
 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 PointWithRangeoperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Static Public Member Functions

static float getObstacleBorderAngle (const BorderTraits &border_traits)
 Take the information from BorderTraits to calculate the local direction of the border. More...
 

Protected Member Functions

float getNeighborDistanceChangeScore (const LocalSurface &local_surface, int x, int y, int offset_x, int offset_y, int pixel_radius=1) const
 Calculate a border score based on how distant the neighbor is, compared to the closest neighbors /param local_surface /param x /param y /param offset_x /param offset_y /param pixel_radius (defaults to 1) /return the resulting border score. More...
 
float getNormalBasedBorderScore (const LocalSurface &local_surface, int x, int y, int offset_x, int offset_y) const
 Calculate a border score based on how much the neighbor is away from the local surface plane. More...
 
bool changeScoreAccordingToShadowBorderValue (int x, int y, int offset_x, int offset_y, float *border_scores, float *border_scores_other_direction, int &shadow_border_idx) const
 Find the best corresponding shadow border and lower score according to the shadow borders value. More...
 
float updatedScoreAccordingToNeighborValues (int x, int y, const float *border_scores) const
 Returns a new score for the given pixel that is >= the original value, based on the neighbors values. More...
 
float * updatedScoresAccordingToNeighborValues (const float *border_scores) const
 For all pixels, returns a new score that is >= the original value, based on the neighbors values. More...
 
void updateScoresAccordingToNeighborValues ()
 Replace all border score values with updates according to updatedScoreAccordingToNeighborValues. More...
 
bool checkPotentialBorder (int x, int y, int offset_x, int offset_y, float *border_scores_left, float *border_scores_right, int &shadow_border_idx) const
 Check if a potential border point has a corresponding shadow border. More...
 
bool checkIfMaximum (int x, int y, int offset_x, int offset_y, float *border_scores, int shadow_border_idx) const
 Check if a potential border point is a maximum regarding the border score. More...
 
void findAndEvaluateShadowBorders ()
 Find the best corresponding shadow border and lower score according to the shadow borders value. More...
 
void extractLocalSurfaceStructure ()
 Extract local plane information in every point (see getSurfaceStructure ()) More...
 
void extractBorderScoreImages ()
 Get images representing the probability that the corresponding pixels are borders in that direction (see getBorderScores... More...
 
void classifyBorders ()
 Classify the pixels in the range image according to the different classes defined below in enum BorderClass. More...
 
void calculateBorderDirection (int x, int y)
 Calculate the 3D direction of the border just using the border traits at this position (facing away from the obstacle) More...
 
void calculateBorderDirections ()
 Call calculateBorderDirection for every point and average the result over parameters_.pixel_radius_border_direction. More...
 
bool get3dDirection (const BorderDescription &border_description, Eigen::Vector3f &direction, const LocalSurface *local_surface=NULL)
 Calculate a 3d direction from a border point by projecting the direction in the range image - returns false if direction could not be calculated. More...
 
bool calculateMainPrincipalCurvature (int x, int y, int radius, float &magnitude, Eigen::Vector3f &main_direction) const
 Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the normals in the area) in the given point. More...
 
void calculateSurfaceChanges ()
 Uses either the border or principal curvature to define a score how much the surface changes in a point (1 for a border) and what the main direction of that change is. More...
 
void blurSurfaceChanges ()
 Apply a blur to the surface change images. More...
 
virtual void computeFeature (PointCloudOut &output)
 Implementation of abstract derived function. More...
 
- Protected Member Functions inherited from pcl::Feature< PointWithRange, BorderDescription >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool initCompute ()
 This method should get called before starting the actual computation. 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< PointWithRange >
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

Parameters parameters_
 
const RangeImagerange_image_
 
int range_image_size_during_extraction_
 
float * border_scores_left_
 
float * border_scores_right_
 
float * border_scores_top_
 
float * border_scores_bottom_
 
LocalSurface ** surface_structure_
 
PointCloudOutborder_descriptions_
 
ShadowBorderIndices ** shadow_border_informations_
 
Eigen::Vector3f ** border_directions_
 
float * surface_change_scores_
 
Eigen::Vector3f * surface_change_directions_
 
- Protected Attributes inherited from pcl::Feature< PointWithRange, BorderDescription >
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< PointWithRange >
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

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background.

Author
Bastian Steder

Definition at line 59 of file range_image_border_extractor.h.

Member Typedef Documentation

Definition at line 65 of file range_image_border_extractor.h.

Definition at line 63 of file range_image_border_extractor.h.

Definition at line 62 of file range_image_border_extractor.h.

Constructor & Destructor Documentation

pcl::RangeImageBorderExtractor::RangeImageBorderExtractor ( const RangeImage range_image = NULL)

Constructor.

virtual pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor ( )
virtual

Destructor.

Member Function Documentation

void pcl::RangeImageBorderExtractor::blurSurfaceChanges ( )
protected

Apply a blur to the surface change images.

void pcl::RangeImageBorderExtractor::calculateBorderDirection ( int  x,
int  y 
)
inlineprotected

Calculate the 3D direction of the border just using the border traits at this position (facing away from the obstacle)

Parameters
xthe x-coordinate of the input position
ythe y-coordinate of the input position

Definition at line 165 of file range_image_border_extractor.hpp.

References border_descriptions_, border_directions_, pcl::BORDER_TRAIT__OBSTACLE_BORDER, get3dDirection(), pcl::PointCloud< T >::points, range_image_, surface_structure_, pcl::BorderDescription::traits, and pcl::PointCloud< T >::width.

void pcl::RangeImageBorderExtractor::calculateBorderDirections ( )
protected

Call calculateBorderDirection for every point and average the result over parameters_.pixel_radius_border_direction.

bool pcl::RangeImageBorderExtractor::calculateMainPrincipalCurvature ( int  x,
int  y,
int  radius,
float &  magnitude,
Eigen::Vector3f &  main_direction 
) const
inlineprotected

Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the normals in the area) in the given point.

Parameters
xthe x-coordinate of the input point
ythe y-coordinate of the input point
radiusthe pixel radius that is used to find neighboring points
magnitudethe resulting magnitude
main_directionthe resulting direction

Definition at line 315 of file range_image_border_extractor.hpp.

References pcl::VectorAverage< real, dimension >::add(), border_descriptions_, pcl::BORDER_TRAIT__SHADOW_BORDER, pcl::BORDER_TRAIT__VEIL_POINT, pcl::VectorAverage< real, dimension >::doPCA(), pcl::VectorAverage< real, dimension >::getNoOfSamples(), pcl::RangeImage::isValid(), pcl::RangeImageBorderExtractor::LocalSurface::normal_no_jumps, pcl::PointCloud< T >::points, range_image_, surface_structure_, and pcl::PointCloud< T >::width.

void pcl::RangeImageBorderExtractor::calculateSurfaceChanges ( )
protected

Uses either the border or principal curvature to define a score how much the surface changes in a point (1 for a border) and what the main direction of that change is.

bool pcl::RangeImageBorderExtractor::changeScoreAccordingToShadowBorderValue ( int  x,
int  y,
int  offset_x,
int  offset_y,
float *  border_scores,
float *  border_scores_other_direction,
int &  shadow_border_idx 
) const
inlineprotected

Find the best corresponding shadow border and lower score according to the shadow borders value.

Parameters
x
y
offset_x
offset_y
border_scores
border_scores_other_direction
shadow_border_idx
Returns

Definition at line 183 of file range_image_border_extractor.hpp.

References pcl::RangeImage::isInImage(), pcl::RangeImage::isMaxRange(), pcl::RangeImageBorderExtractor::Parameters::minimum_border_probability, parameters_, pcl::RangeImageBorderExtractor::Parameters::pixel_radius_borders, range_image_, and pcl::PointCloud< T >::width.

bool pcl::RangeImageBorderExtractor::checkIfMaximum ( int  x,
int  y,
int  offset_x,
int  offset_y,
float *  border_scores,
int  shadow_border_idx 
) const
inlineprotected

Check if a potential border point is a maximum regarding the border score.

Parameters
xthe x-coordinate of the input point
ythe y-coordinate of the input point
offset_x
offset_y
border_scores
shadow_border_idx
Returns
a boolean value indicating whether or not the point is a maximum

Definition at line 292 of file range_image_border_extractor.hpp.

References pcl::RangeImage::isInImage(), parameters_, pcl::RangeImageBorderExtractor::Parameters::pixel_radius_borders, range_image_, and pcl::PointCloud< T >::width.

bool pcl::RangeImageBorderExtractor::checkPotentialBorder ( int  x,
int  y,
int  offset_x,
int  offset_y,
float *  border_scores_left,
float *  border_scores_right,
int &  shadow_border_idx 
) const
inlineprotected

Check if a potential border point has a corresponding shadow border.

Parameters
xthe x-coordinate of the input point
ythe y-coordinate of the input point
offset_x
offset_y
border_scores_left
border_scores_right
shadow_border_idx
Returns
a boolean value indicating whether or not the point has a corresponding shadow border

Definition at line 261 of file range_image_border_extractor.hpp.

References pcl::RangeImage::isInImage(), pcl::RangeImageBorderExtractor::Parameters::minimum_border_probability, parameters_, pcl::RangeImageBorderExtractor::Parameters::pixel_radius_borders, range_image_, and pcl::PointCloud< T >::width.

void pcl::RangeImageBorderExtractor::classifyBorders ( )
protected

Classify the pixels in the range image according to the different classes defined below in enum BorderClass.

minImpactAngle (in radians) defines how flat the angle at which a surface was seen can be.

void pcl::RangeImageBorderExtractor::clearData ( )

Erase all data calculated for the current range image.

void pcl::RangeImageBorderExtractor::compute ( PointCloudOut output)

Overwrite the compute function of the base class.

virtual void pcl::RangeImageBorderExtractor::computeFeature ( PointCloudOut output)
protectedvirtual

Implementation of abstract derived function.

Implements pcl::Feature< PointWithRange, BorderDescription >.

void pcl::RangeImageBorderExtractor::extractBorderScoreImages ( )
protected

Get images representing the probability that the corresponding pixels are borders in that direction (see getBorderScores...

())

void pcl::RangeImageBorderExtractor::extractLocalSurfaceStructure ( )
protected

Extract local plane information in every point (see getSurfaceStructure ())

void pcl::RangeImageBorderExtractor::findAndEvaluateShadowBorders ( )
protected

Find the best corresponding shadow border and lower score according to the shadow borders value.

bool pcl::RangeImageBorderExtractor::get3dDirection ( const BorderDescription border_description,
Eigen::Vector3f &  direction,
const LocalSurface local_surface = NULL 
)
inlineprotected
float* pcl::RangeImageBorderExtractor::getAnglesImageForBorderDirections ( )

Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.

float* pcl::RangeImageBorderExtractor::getAnglesImageForSurfaceChangeDirections ( )

Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.

PointCloudOut& pcl::RangeImageBorderExtractor::getBorderDescriptions ( )
inline

Definition at line 170 of file range_image_border_extractor.h.

Eigen::Vector3f** pcl::RangeImageBorderExtractor::getBorderDirections ( )
inline

Definition at line 176 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresBottom ( )
inline

Definition at line 164 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresLeft ( )
inline

Definition at line 155 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresRight ( )
inline

Definition at line 158 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresTop ( )
inline

Definition at line 161 of file range_image_border_extractor.h.

float pcl::RangeImageBorderExtractor::getNeighborDistanceChangeScore ( const LocalSurface local_surface,
int  x,
int  y,
int  offset_x,
int  offset_y,
int  pixel_radius = 1 
) const
inlineprotected

Calculate a border score based on how distant the neighbor is, compared to the closest neighbors /param local_surface /param x /param y /param offset_x /param offset_y /param pixel_radius (defaults to 1) /return the resulting border score.

Definition at line 70 of file range_image_border_extractor.hpp.

References pcl::RangeImage::get1dPointAverage(), pcl::RangeImage::getPoint(), pcl::RangeImageBorderExtractor::LocalSurface::max_neighbor_distance_squared, pcl::_PointWithRange::range, range_image_, and pcl::squaredEuclideanDistance().

float pcl::RangeImageBorderExtractor::getNormalBasedBorderScore ( const LocalSurface local_surface,
int  x,
int  y,
int  offset_x,
int  offset_y 
) const
inlineprotected

Calculate a border score based on how much the neighbor is away from the local surface plane.

Parameters
local_surface
x
y
offset_x
offset_y
Returns
the resulting border score
float pcl::RangeImageBorderExtractor::getObstacleBorderAngle ( const BorderTraits border_traits)
inlinestatic

Take the information from BorderTraits to calculate the local direction of the border.

Parameters
border_traitscontains the information needed to calculate the border angle

Definition at line 45 of file range_image_border_extractor.hpp.

References pcl::BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM, pcl::BORDER_TRAIT__OBSTACLE_BORDER_LEFT, pcl::BORDER_TRAIT__OBSTACLE_BORDER_RIGHT, and pcl::BORDER_TRAIT__OBSTACLE_BORDER_TOP.

Parameters& pcl::RangeImageBorderExtractor::getParameters ( )
inline

Definition at line 146 of file range_image_border_extractor.h.

const RangeImage& pcl::RangeImageBorderExtractor::getRangeImage ( ) const
inline

Definition at line 152 of file range_image_border_extractor.h.

ShadowBorderIndices** pcl::RangeImageBorderExtractor::getShadowBorderInformations ( )
inline

Definition at line 173 of file range_image_border_extractor.h.

Eigen::Vector3f* pcl::RangeImageBorderExtractor::getSurfaceChangeDirections ( )
inline

Definition at line 182 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getSurfaceChangeScores ( )
inline

Definition at line 179 of file range_image_border_extractor.h.

LocalSurface** pcl::RangeImageBorderExtractor::getSurfaceStructure ( )
inline

Definition at line 167 of file range_image_border_extractor.h.

bool pcl::RangeImageBorderExtractor::hasRangeImage ( ) const
inline

Definition at line 149 of file range_image_border_extractor.h.

void pcl::RangeImageBorderExtractor::setRangeImage ( const RangeImage range_image)

Provide a pointer to the range image.

Parameters
range_imagea pointer to the range_image
float pcl::RangeImageBorderExtractor::updatedScoreAccordingToNeighborValues ( int  x,
int  y,
const float *  border_scores 
) const
inlineprotected

Returns a new score for the given pixel that is >= the original value, based on the neighbors values.

Parameters
xthe x-coordinate of the input pixel
ythe y-coordinate of the input pixel
border_scoresthe input border scores
Returns
the resulting updated border score

Definition at line 229 of file range_image_border_extractor.hpp.

References pcl::RangeImage::isInImage(), pcl::RangeImageBorderExtractor::Parameters::minimum_border_probability, parameters_, range_image_, and pcl::PointCloud< T >::width.

float* pcl::RangeImageBorderExtractor::updatedScoresAccordingToNeighborValues ( const float *  border_scores) const
protected

For all pixels, returns a new score that is >= the original value, based on the neighbors values.

Parameters
border_scoresthe input border scores
Returns
a pointer to the resulting array of updated scores
void pcl::RangeImageBorderExtractor::updateScoresAccordingToNeighborValues ( )
protected

Replace all border score values with updates according to updatedScoreAccordingToNeighborValues.

Member Data Documentation

PointCloudOut* pcl::RangeImageBorderExtractor::border_descriptions_
protected
Eigen::Vector3f** pcl::RangeImageBorderExtractor::border_directions_
protected

Definition at line 194 of file range_image_border_extractor.h.

Referenced by calculateBorderDirection().

float * pcl::RangeImageBorderExtractor::border_scores_bottom_
protected

Definition at line 190 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::border_scores_left_
protected

Definition at line 190 of file range_image_border_extractor.h.

float * pcl::RangeImageBorderExtractor::border_scores_right_
protected

Definition at line 190 of file range_image_border_extractor.h.

float * pcl::RangeImageBorderExtractor::border_scores_top_
protected

Definition at line 190 of file range_image_border_extractor.h.

Parameters pcl::RangeImageBorderExtractor::parameters_
protected
const RangeImage* pcl::RangeImageBorderExtractor::range_image_
protected
int pcl::RangeImageBorderExtractor::range_image_size_during_extraction_
protected

Definition at line 189 of file range_image_border_extractor.h.

ShadowBorderIndices** pcl::RangeImageBorderExtractor::shadow_border_informations_
protected

Definition at line 193 of file range_image_border_extractor.h.

Eigen::Vector3f* pcl::RangeImageBorderExtractor::surface_change_directions_
protected

Definition at line 197 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::surface_change_scores_
protected

Definition at line 196 of file range_image_border_extractor.h.

LocalSurface** pcl::RangeImageBorderExtractor::surface_structure_
protected

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