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:

Collaboration 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
using	Ptr = shared_ptr< RangeImageBorderExtractor >

using	ConstPtr = shared_ptr< const RangeImageBorderExtractor >

using	BaseClass = Feature< PointWithRange, BorderDescription >

Public Types inherited from pcl::Feature< PointWithRange, BorderDescription >
using	BaseClass = PCLBase< PointWithRange >

using	Ptr = shared_ptr< Feature< PointWithRange, BorderDescription > >

using	ConstPtr = shared_ptr< const Feature< PointWithRange, BorderDescription > >

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

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointWithRange >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< BorderDescription >

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< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	RangeImageBorderExtractor (const RangeImage *range_image=nullptr)
	Constructor. More...

	~RangeImageBorderExtractor () override
	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...

Parameters &	getParameters ()

bool	hasRangeImage () const

const RangeImage &	getRangeImage () const

float *	getBorderScoresLeft ()

float *	getBorderScoresRight ()

float *	getBorderScoresTop ()

float *	getBorderScoresBottom ()

LocalSurface **	getSurfaceStructure ()

PointCloudOut &	getBorderDescriptions ()

ShadowBorderIndices **	getShadowBorderInformations ()

Eigen::Vector3f **	getBorderDirections ()

float *	getSurfaceChangeScores ()

Eigen::Vector3f *	getSurfaceChangeDirections ()

Public Member Functions inherited from pcl::Feature< PointWithRange, BorderDescription >
	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< PointT >
	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 PointT &	operator[] (std::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=nullptr)
	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...

void	computeFeature (PointCloudOut &output) override
	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 (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< PointT >
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 RangeImage *	range_image_

int	range_image_size_during_extraction_ {0}

std::vector< float >	border_scores_left_

std::vector< float >	border_scores_right_

std::vector< float >	border_scores_top_

std::vector< float >	border_scores_bottom_

LocalSurface **	surface_structure_ {nullptr}

PointCloudOut *	border_descriptions_ {nullptr}

ShadowBorderIndices **	shadow_border_informations_ {nullptr}

Eigen::Vector3f **	border_directions_ {nullptr}

float *	surface_change_scores_ {nullptr}

Eigen::Vector3f *	surface_change_directions_ {nullptr}

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< PointT >
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 55 of file range_image_border_extractor.h.

Member Typedef Documentation

◆ BaseClass

using pcl::RangeImageBorderExtractor::BaseClass = Feature<PointWithRange,BorderDescription>

Definition at line 61 of file range_image_border_extractor.h.

◆ ConstPtr

using pcl::RangeImageBorderExtractor::ConstPtr = shared_ptr<const RangeImageBorderExtractor>

Definition at line 59 of file range_image_border_extractor.h.

◆ Ptr

using pcl::RangeImageBorderExtractor::Ptr = shared_ptr<RangeImageBorderExtractor>

Definition at line 58 of file range_image_border_extractor.h.

Constructor & Destructor Documentation

◆ RangeImageBorderExtractor()

pcl::RangeImageBorderExtractor::RangeImageBorderExtractor ( const RangeImage * range_image = nullptr )

Constructor.

◆ ~RangeImageBorderExtractor()

pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor ( )

override

Destructor.

Member Function Documentation

◆ blurSurfaceChanges()

void pcl::RangeImageBorderExtractor::blurSurfaceChanges ( )

protected

Apply a blur to the surface change images.

◆ calculateBorderDirection()

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

x	the x-coordinate of the input position
y	the y-coordinate of the input position

Definition at line 162 of file range_image_border_extractor.hpp.

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

◆ calculateBorderDirections()

void pcl::RangeImageBorderExtractor::calculateBorderDirections ( )

protected

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

◆ calculateMainPrincipalCurvature()

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

x	the x-coordinate of the input point
y	the y-coordinate of the input point
radius	the pixel radius that is used to find neighboring points
magnitude	the resulting magnitude
main_direction	the resulting direction

Definition at line 312 of file range_image_border_extractor.hpp.

References pcl::VectorAverage< real, dimension >::add(), 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, range_image_, surface_structure_, and pcl::PointCloud< PointT >::width.

◆ calculateSurfaceChanges()

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.

◆ changeScoreAccordingToShadowBorderValue()

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 180 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< PointT >::width.

◆ checkIfMaximum()

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

x	the x-coordinate of the input point
y	the 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 289 of file range_image_border_extractor.hpp.

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

◆ checkPotentialBorder()

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

x	the x-coordinate of the input point
y	the 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 258 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< PointT >::width.

◆ classifyBorders()

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.

◆ clearData()

void pcl::RangeImageBorderExtractor::clearData ( )

Erase all data calculated for the current range image.

◆ compute()

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

Overwrite the compute function of the base class.

◆ computeFeature()

void pcl::RangeImageBorderExtractor::computeFeature ( PointCloudOut & output )

overrideprotectedvirtual

Implementation of abstract derived function.

Implements pcl::Feature< PointWithRange, BorderDescription >.

◆ extractBorderScoreImages()

void pcl::RangeImageBorderExtractor::extractBorderScoreImages ( )

protected

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

())

◆ extractLocalSurfaceStructure()

void pcl::RangeImageBorderExtractor::extractLocalSurfaceStructure ( )

protected

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

◆ findAndEvaluateShadowBorders()

void pcl::RangeImageBorderExtractor::findAndEvaluateShadowBorders ( )

protected

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

◆ get3dDirection()

bool pcl::RangeImageBorderExtractor::get3dDirection	(	const BorderDescription &	border_description,
		Eigen::Vector3f &	direction,
		const LocalSurface *	local_surface = `nullptr`
	)

inlineprotected

Calculate a 3d direction from a border point by projecting the direction in the range image - returns false if direction could not be calculated.

Parameters

border_description
direction
local_surface

Returns: a boolean value indicating whether or not a direction could be calculated

Definition at line 120 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, pcl::BORDER_TRAIT__OBSTACLE_BORDER_TOP, pcl::RangeImage::calculate3DPoint(), pcl::RangeImage::getPoint(), pcl::RangeImage::getSensorPos(), pcl::RangeImageBorderExtractor::LocalSurface::neighborhood_mean_no_jumps, pcl::RangeImageBorderExtractor::LocalSurface::normal_no_jumps, pcl::_PointWithRange::range, range_image_, pcl::BorderDescription::traits, pcl::BorderDescription::x, and pcl::BorderDescription::y.

Referenced by calculateBorderDirection().

◆ getAnglesImageForBorderDirections()

float* pcl::RangeImageBorderExtractor::getAnglesImageForBorderDirections ( )

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

◆ getAnglesImageForSurfaceChangeDirections()

float* pcl::RangeImageBorderExtractor::getAnglesImageForSurfaceChangeDirections ( )

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

◆ getBorderDescriptions()

PointCloudOut& pcl::RangeImageBorderExtractor::getBorderDescriptions ( )

inline

Definition at line 163 of file range_image_border_extractor.h.

◆ getBorderDirections()

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

inline

Definition at line 169 of file range_image_border_extractor.h.

◆ getBorderScoresBottom()

float* pcl::RangeImageBorderExtractor::getBorderScoresBottom ( )

inline

Definition at line 157 of file range_image_border_extractor.h.

◆ getBorderScoresLeft()

float* pcl::RangeImageBorderExtractor::getBorderScoresLeft ( )

inline

Definition at line 148 of file range_image_border_extractor.h.

◆ getBorderScoresRight()

float* pcl::RangeImageBorderExtractor::getBorderScoresRight ( )

inline

Definition at line 151 of file range_image_border_extractor.h.

◆ getBorderScoresTop()

float* pcl::RangeImageBorderExtractor::getBorderScoresTop ( )

inline

Definition at line 154 of file range_image_border_extractor.h.

◆ getNeighborDistanceChangeScore()

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().

◆ getNormalBasedBorderScore()

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

◆ getObstacleBorderAngle()

float pcl::RangeImageBorderExtractor::getObstacleBorderAngle ( const BorderTraits & border_traits )

inlinestatic

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

Parameters

border_traits contains 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.

◆ getParameters()

Parameters& pcl::RangeImageBorderExtractor::getParameters ( )

inline

Definition at line 139 of file range_image_border_extractor.h.

◆ getRangeImage()

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

inline

Definition at line 145 of file range_image_border_extractor.h.

◆ getShadowBorderInformations()

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

inline

Definition at line 166 of file range_image_border_extractor.h.

◆ getSurfaceChangeDirections()

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

inline

Definition at line 175 of file range_image_border_extractor.h.

◆ getSurfaceChangeScores()

float* pcl::RangeImageBorderExtractor::getSurfaceChangeScores ( )

inline

Definition at line 172 of file range_image_border_extractor.h.

◆ getSurfaceStructure()

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

inline

Definition at line 160 of file range_image_border_extractor.h.

◆ hasRangeImage()

bool pcl::RangeImageBorderExtractor::hasRangeImage ( ) const

inline

Definition at line 142 of file range_image_border_extractor.h.

◆ setRangeImage()

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

Provide a pointer to the range image.

Parameters

range_image a pointer to the range_image

◆ updatedScoreAccordingToNeighborValues()

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

x	the x-coordinate of the input pixel
y	the y-coordinate of the input pixel
border_scores	the input border scores

Returns: the resulting updated border score

Definition at line 226 of file range_image_border_extractor.hpp.

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

◆ updatedScoresAccordingToNeighborValues()

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_scores the input border scores

Returns: a pointer to the resulting array of updated scores

◆ updateScoresAccordingToNeighborValues()

void pcl::RangeImageBorderExtractor::updateScoresAccordingToNeighborValues ( )

protected

Replace all border score values with updates according to updatedScoreAccordingToNeighborValues.

Member Data Documentation

◆ border_descriptions_

PointCloudOut* pcl::RangeImageBorderExtractor::border_descriptions_ {nullptr}

protected

Definition at line 186 of file range_image_border_extractor.h.

◆ border_directions_

Eigen::Vector3f** pcl::RangeImageBorderExtractor::border_directions_ {nullptr}

protected

Definition at line 188 of file range_image_border_extractor.h.

Referenced by calculateBorderDirection().

◆ border_scores_bottom_

std::vector<float> pcl::RangeImageBorderExtractor::border_scores_bottom_

protected

Definition at line 184 of file range_image_border_extractor.h.

◆ border_scores_left_

std::vector<float> pcl::RangeImageBorderExtractor::border_scores_left_

protected

Definition at line 183 of file range_image_border_extractor.h.

◆ border_scores_right_

std::vector<float> pcl::RangeImageBorderExtractor::border_scores_right_

protected

Definition at line 183 of file range_image_border_extractor.h.

◆ border_scores_top_

std::vector<float> pcl::RangeImageBorderExtractor::border_scores_top_

protected

Definition at line 184 of file range_image_border_extractor.h.

◆ parameters_

Parameters pcl::RangeImageBorderExtractor::parameters_

protected

Definition at line 180 of file range_image_border_extractor.h.

Referenced by changeScoreAccordingToShadowBorderValue(), checkIfMaximum(), checkPotentialBorder(), and updatedScoreAccordingToNeighborValues().

◆ range_image_

const RangeImage* pcl::RangeImageBorderExtractor::range_image_

protected

Definition at line 181 of file range_image_border_extractor.h.

Referenced by calculateBorderDirection(), calculateMainPrincipalCurvature(), changeScoreAccordingToShadowBorderValue(), checkIfMaximum(), checkPotentialBorder(), get3dDirection(), getNeighborDistanceChangeScore(), and updatedScoreAccordingToNeighborValues().

◆ range_image_size_during_extraction_

int pcl::RangeImageBorderExtractor::range_image_size_during_extraction_ {0}

protected

Definition at line 182 of file range_image_border_extractor.h.

◆ shadow_border_informations_

ShadowBorderIndices** pcl::RangeImageBorderExtractor::shadow_border_informations_ {nullptr}

protected

Definition at line 187 of file range_image_border_extractor.h.

◆ surface_change_directions_

Eigen::Vector3f* pcl::RangeImageBorderExtractor::surface_change_directions_ {nullptr}

protected

Definition at line 191 of file range_image_border_extractor.h.

◆ surface_change_scores_

float* pcl::RangeImageBorderExtractor::surface_change_scores_ {nullptr}

protected

Definition at line 190 of file range_image_border_extractor.h.

◆ surface_structure_

LocalSurface** pcl::RangeImageBorderExtractor::surface_structure_ {nullptr}

protected

Definition at line 185 of file range_image_border_extractor.h.

Referenced by calculateBorderDirection(), and calculateMainPrincipalCurvature().

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

pcl/features/range_image_border_extractor.h
pcl/features/impl/range_image_border_extractor.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ BaseClass

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ RangeImageBorderExtractor()

◆ ~RangeImageBorderExtractor()

Member Function Documentation

◆ blurSurfaceChanges()

◆ calculateBorderDirection()

◆ calculateBorderDirections()

◆ calculateMainPrincipalCurvature()

◆ calculateSurfaceChanges()

◆ changeScoreAccordingToShadowBorderValue()

◆ checkIfMaximum()

◆ checkPotentialBorder()

◆ classifyBorders()

◆ clearData()

◆ compute()

◆ computeFeature()

◆ extractBorderScoreImages()

◆ extractLocalSurfaceStructure()

◆ findAndEvaluateShadowBorders()

◆ get3dDirection()

◆ getAnglesImageForBorderDirections()

◆ getAnglesImageForSurfaceChangeDirections()

◆ getBorderDescriptions()

◆ getBorderDirections()

◆ getBorderScoresBottom()

◆ getBorderScoresLeft()

◆ getBorderScoresRight()

◆ getBorderScoresTop()

◆ getNeighborDistanceChangeScore()

◆ getNormalBasedBorderScore()

◆ getObstacleBorderAngle()

◆ getParameters()

◆ getRangeImage()

◆ getShadowBorderInformations()

◆ getSurfaceChangeDirections()

◆ getSurfaceChangeScores()

◆ getSurfaceStructure()

◆ hasRangeImage()

◆ setRangeImage()

◆ updatedScoreAccordingToNeighborValues()

◆ updatedScoresAccordingToNeighborValues()

◆ updateScoresAccordingToNeighborValues()

Member Data Documentation

◆ border_descriptions_

◆ border_directions_

◆ border_scores_bottom_

◆ border_scores_left_

◆ border_scores_right_

◆ border_scores_top_

◆ parameters_

◆ range_image_

◆ range_image_size_during_extraction_

◆ shadow_border_informations_

◆ surface_change_directions_

◆ surface_change_scores_

◆ surface_structure_