41 #include <pcl/features/feature.h>
47 template <
typename Po
intType>
58 using Ptr = shared_ptr<RangeImageBorderExtractor>;
59 using ConstPtr = shared_ptr<const RangeImageBorderExtractor>;
68 max_neighbor_distance_squared () {}
89 Parameters () : max_no_of_threads(1), pixel_radius_borders (3), pixel_radius_plane_extraction (2), pixel_radius_border_direction (2),
90 minimum_border_probability (0.8f), pixel_radius_principal_curvature (2) {}
104 getObstacleBorderAngle (
const BorderTraits& border_traits);
167 ShadowBorderIndices**
207 getNeighborDistanceChangeScore (
const LocalSurface& local_surface,
int x,
int y,
208 int offset_x,
int offset_y,
int pixel_radius=1)
const;
220 int offset_x,
int offset_y)
const;
233 changeScoreAccordingToShadowBorderValue (
int x,
int y,
int offset_x,
int offset_y,
float* border_scores,
234 float* border_scores_other_direction,
int& shadow_border_idx)
const;
243 updatedScoreAccordingToNeighborValues (
int x,
int y,
const float* border_scores)
const;
267 checkPotentialBorder (
int x,
int y,
int offset_x,
int offset_y,
float* border_scores_left,
268 float* border_scores_right,
int& shadow_border_idx)
const;
280 checkIfMaximum (
int x,
int y,
int offset_x,
int offset_y,
float* border_scores,
int shadow_border_idx)
const;
308 calculateBorderDirection (
int x,
int y);
324 get3dDirection (
const BorderDescription& border_description, Eigen::Vector3f& direction,
336 calculateMainPrincipalCurvature (
int x,
int y,
int radius,
float& magnitude,
337 Eigen::Vector3f& main_direction)
const;
354 updatedScoresAccordingToNeighborValues (
const std::vector<float>& border_scores)
const;
358 #include <pcl/features/impl/range_image_border_extractor.hpp>
Feature represents the base feature class.
PointCloud represents the base class in PCL for storing collections of 3D points.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Defines all the PCL implemented PointT point type structures.
std::bitset< 32 > BorderTraits
Data type to store extended information about a transition from foreground to backgroundSpecification...
A structure to store if a point in a range image lies on a border between an obstacle and the backgro...
Stores the indices of the shadow border corresponding to obstacle borders.