Point Cloud Library (PCL)  1.3.1
boundary.h
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00001 /*
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00036  * $Id: boundary.h 2497 2011-09-18 06:33:45Z rusu $
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00039 
00040 #ifndef PCL_BOUNDARY_H_
00041 #define PCL_BOUNDARY_H_
00042 
00043 #include <pcl/features/feature.h>
00044 #include <Eigen/Geometry>
00045 
00046 namespace pcl
00047 {
00056   template <typename PointInT, typename PointNT, typename PointOutT>
00057   class BoundaryEstimation: public FeatureFromNormals<PointInT, PointNT, PointOutT>
00058   {
00059     public:
00060       using Feature<PointInT, PointOutT>::feature_name_;
00061       using Feature<PointInT, PointOutT>::getClassName;
00062       using Feature<PointInT, PointOutT>::input_;
00063       using Feature<PointInT, PointOutT>::indices_;
00064       using Feature<PointInT, PointOutT>::k_;
00065       using Feature<PointInT, PointOutT>::tree_;
00066       using Feature<PointInT, PointOutT>::search_radius_;
00067       using Feature<PointInT, PointOutT>::search_parameter_;
00068       using Feature<PointInT, PointOutT>::surface_;
00069       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00070 
00071       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00072 
00073     public:
00075       BoundaryEstimation () : angle_threshold_ (M_PI/2.0) 
00076       {
00077         feature_name_ = "BoundaryEstimation";
00078       };
00079 
00089       bool 
00090       isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud, 
00091                        int q_idx, const std::vector<int> &indices, 
00092                        const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);
00093 
00103       bool 
00104       isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud, 
00105                        const PointInT &q_point, 
00106                        const std::vector<int> &indices, 
00107                        const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);
00108 
00113       inline void
00114       setAngleThreshold (float angle)
00115       {
00116         angle_threshold_ = angle;
00117       }
00118 
00120       float
00121       getAngleThreshold ()
00122       {
00123         return (angle_threshold_);
00124       }
00125 
00131       inline void 
00132       getCoordinateSystemOnPlane (const PointNT &p_coeff, 
00133                                   Eigen::Vector4f &u, Eigen::Vector4f &v)
00134       {
00135         pcl::Vector4fMapConst p_coeff_v = p_coeff.getNormalVector4fMap ();
00136         v = p_coeff_v.unitOrthogonal ();
00137         u = p_coeff_v.cross3 (v);
00138       }
00139 
00140     protected:
00141  
00147       void 
00148       computeFeature (PointCloudOut &output);
00149 
00151       float angle_threshold_;
00152   };
00153 }
00154 
00155 #endif  //#ifndef PCL_BOUNDARY_H_
00156 
00157 
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