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 >:

Collaboration diagram for pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >:

Public Types
using	Ptr = shared_ptr< BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > >

using	ConstPtr = shared_ptr< const BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > >

Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame >
using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, ReferenceFrame > >

using	ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, ReferenceFrame > >

Public Types inherited from pcl::Feature< PointInT, ReferenceFrame >
using	BaseClass = PCLBase< PointInT >

using	Ptr = shared_ptr< Feature< PointInT, ReferenceFrame > >

using	ConstPtr = shared_ptr< const Feature< PointInT, ReferenceFrame > >

using	KdTree = pcl::search::Search< PointInT >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< ReferenceFrame >

using	SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	BOARDLocalReferenceFrameEstimation ()
	Constructor. More...

	~BOARDLocalReferenceFrameEstimation () override=default
	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, ReferenceFrame >
	FeatureFromNormals ()
	Empty constructor. 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, ReferenceFrame >
	Feature ()
	Empty constructor. 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 ()=default
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	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[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Types
using	PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn

using	PointCloudOut = typename Feature< PointInT, PointOutT >::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...

void	computeFeature (PointCloudOut &output) override
	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, pcl::Indices 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, ReferenceFrame >
virtual bool	initCompute ()
	This method should get called before starting the actual computation. More...

Protected Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame >
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 (std::size_t index, double parameter, pcl::Indices &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, std::size_t index, double parameter, pcl::Indices &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, ReferenceFrame >
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, ReferenceFrame >
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:

A. Petrelli, L. Di Stefano, "On the repeatability of the local reference frame for partial shape matching", 13th International Conference on Computer Vision (ICCV), 2011

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

Definition at line 58 of file board.h.

Member Typedef Documentation

◆ ConstPtr

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

using pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >

Definition at line 62 of file board.h.

◆ PointCloudIn

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

using pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

protected

Definition at line 227 of file board.h.

◆ PointCloudOut

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

using pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

protected

Definition at line 228 of file board.h.

◆ Ptr

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

using pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >

Definition at line 61 of file board.h.

Constructor & Destructor Documentation

◆ BOARDLocalReferenceFrameEstimation()

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

pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation ( )

inline

Constructor.

Definition at line 65 of file board.h.

References pcl::Feature< PointInT, ReferenceFrame >::feature_name_, and pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setCheckMarginArraySize().

◆ ~BOARDLocalReferenceFrameEstimation()

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

pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::~BOARDLocalReferenceFrameEstimation ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ areEquals()

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]	val1	first number to check.
[in]	val2	second number to check.
[in]	zero_float_eps	epsilon

Returns: true if val1 is equal to val2, false otherwise.

Definition at line 321 of file board.h.

◆ computeFeature()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut & output )

overrideprotected

Abstract feature estimation method.

Parameters

[out] output the resultant features

Definition at line 569 of file board.hpp.

◆ computePointLRF()

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]	index	the index of the point in input_
[out]	lrf	the resultant local reference frame

Definition at line 183 of file board.hpp.

References pcl::geometry::distance(), M_PI, and pcl::geometry::randomOrthogonalAxis().

◆ directedOrthogonalAxis()

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]	axis	the axis
[in]	axis_origin	the axis_origin
[in]	point	the point towards which the resulting axis is directed
[out]	directed_ortho_axis	the directed orthogonal axis calculated

Definition at line 48 of file board.hpp.

◆ getAngleBetweenUnitVectors()

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]	v1	the first vector
[in]	v2	the second vector
[in]	axis	the rotation axis. Axis must be normalized and orthogonal to plane defined by v1 and v2.

Returns: angle

Definition at line 83 of file board.hpp.

References M_PI.

◆ getCheckMarginArraySize()

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 168 of file board.h.

◆ getFindHoles()

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 113 of file board.h.

◆ getHoleSizeProbThresh()

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 190 of file board.h.

◆ getMarginThresh()

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 133 of file board.h.

◆ getSteepThresh()

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 212 of file board.h.

◆ getTangentRadius()

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 91 of file board.h.

◆ normalDisambiguation()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::normalDisambiguation	(	pcl::PointCloud< PointNT > const &	normals_cloud,
		pcl::Indices const &	normal_indices,
		Eigen::Vector3f &	normal
	)

protected

Disambiguates a normal direction using adjacent normals.

Parameters

[in]	normals_cloud	a cloud of normals used for the calculation
[in]	normal_indices	the indices of the normals in the cloud that should to be used for the calculation
[in,out]	normal	the normal to disambiguate, the calculation is performed in place

Definition at line 158 of file board.hpp.

◆ planeFitting()

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]	points	Matrix(nPoints,3) of 3D points coordinates
[out]	center	centroid of the distribution of points that belongs to the fitted plane
[out]	norm	normal to the fitted plane

Definition at line 130 of file board.hpp.

◆ projectPointOnPlane()

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]	point	the point to project
[in]	origin_point	a point belonging to the plane
[in]	plane_normal	normal of the plane
[out]	projected_point	the projection of the point on the plane

Definition at line 66 of file board.hpp.

◆ randomOrthogonalAxis()

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]	axis	input axis
[out]	rand_ortho_axis	an axis orthogonal to the input axis and whose direction is random

Definition at line 99 of file board.hpp.

◆ resetData()

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

void pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::resetData ( )

inlineprotected

Definition at line 231 of file board.h.

References pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setCheckMarginArraySize().

◆ setCheckMarginArraySize()

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] size the number of margin slices.

Definition at line 143 of file board.h.

Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation(), and pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::resetData().

◆ setFindHoles()

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_holes Enable/Disable the search for holes in the support.

Definition at line 102 of file board.h.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf().

◆ setHoleSizeProbThresh()

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

Definition at line 179 of file board.h.

◆ setMarginThresh()

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

Definition at line 123 of file board.h.

◆ setSteepThresh()

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

Definition at line 201 of file board.h.

◆ setTangentRadius()

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

Definition at line 81 of file board.h.

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

pcl/features/board.h
pcl/features/impl/board.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ BOARDLocalReferenceFrameEstimation()

◆ ~BOARDLocalReferenceFrameEstimation()

Member Function Documentation

◆ areEquals()

◆ computeFeature()

◆ computePointLRF()

◆ directedOrthogonalAxis()

◆ getAngleBetweenUnitVectors()

◆ getCheckMarginArraySize()

◆ getFindHoles()

◆ getHoleSizeProbThresh()

◆ getMarginThresh()

◆ getSteepThresh()

◆ getTangentRadius()

◆ normalDisambiguation()

◆ planeFitting()

◆ projectPointOnPlane()

◆ randomOrthogonalAxis()

◆ resetData()

◆ setCheckMarginArraySize()

◆ setFindHoles()

◆ setHoleSizeProbThresh()

◆ setMarginThresh()

◆ setSteepThresh()

◆ setTangentRadius()

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