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 >:

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

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

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

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

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

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

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

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

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

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

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

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< PointOutT >

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
	BoundaryEstimation ()
	Empty constructor. More...

bool	isBoundaryPoint (const pcl::PointCloud< PointInT > &cloud, int q_idx, const pcl::Indices &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 pcl::Indices &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...

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...

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 Member Functions
void	computeFeature (PointCloudOut &output) override
	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 (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...

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:

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
// fill in the cloud data here
 
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
// estimate normals and fill in \a normals
 
pcl::PointCloud<pcl::Boundary> boundaries;
pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> est;
est.setInputCloud (cloud);
est.setInputNormals (normals);
est.setRadiusSearch (0.02);   // 2cm radius
est.setSearchMethod (typename pcl::search::KdTree<PointXYZ>::Ptr (new pcl::search::KdTree<PointXYZ>)
est.compute (boundaries);

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 79 of file boundary.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 83 of file boundary.h.

◆ PointCloudOut

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 96 of file boundary.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 82 of file boundary.h.

Constructor & Destructor Documentation

◆ BoundaryEstimation()

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 102 of file boundary.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointNT , typename PointOutT >

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

overrideprotectedvirtual

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] output the resultant point cloud model dataset that contains boundary point estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 116 of file boundary.hpp.

References pcl::isFinite().

◆ getAngleThreshold()

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 148 of file boundary.h.

References pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::angle_threshold_.

◆ getCoordinateSystemOnPlane()

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_coeff	the plane coefficients (containing the plane normal)
[out]	u	the resultant u direction
[out]	v	the resultant v direction

Definition at line 159 of file boundary.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getBoundaryPoints().

◆ isBoundaryPoint() [1/2]

template<typename PointInT , typename PointNT , typename PointOutT >

bool pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::isBoundaryPoint	(	const pcl::PointCloud< PointInT > &	cloud,
		const PointInT &	q_point,
		const pcl::Indices &	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]	cloud	a pointer to the input point cloud
[in]	q_point	a pointer to the query point
[in]	indices	the estimated point neighbors of the query point
[in]	u	the u direction
[in]	v	the v direction
[in]	angle_threshold	the threshold angle (default $\pi / 2.0$ )

Definition at line 62 of file boundary.hpp.

References M_PI.

◆ isBoundaryPoint() [2/2]

template<typename PointInT , typename PointNT , typename PointOutT >

bool pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::isBoundaryPoint	(	const pcl::PointCloud< PointInT > &	cloud,
		int	q_idx,
		const pcl::Indices &	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]	cloud	a pointer to the input point cloud
[in]	q_idx	the index of the query point in cloud
[in]	indices	the estimated point neighbors of the query point
[in]	u	the u direction
[in]	v	the v direction
[in]	angle_threshold	the threshold angle (default $\pi / 2.0$ )

Definition at line 51 of file boundary.hpp.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getBoundaryPoints().

◆ setAngleThreshold()

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] angle the angle threshold

Definition at line 141 of file boundary.h.

References pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::angle_threshold_.

Member Data Documentation

◆ angle_threshold_

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 177 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:

pcl/features/boundary.h
pcl/features/impl/boundary.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT> class pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ BoundaryEstimation()

Member Function Documentation

◆ computeFeature()

◆ getAngleThreshold()

◆ getCoordinateSystemOnPlane()

◆ isBoundaryPoint() [1/2]

◆ isBoundaryPoint() [2/2]

◆ setAngleThreshold()

Member Data Documentation

◆ angle_threshold_

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >