Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: boundary.h 2497 2011-09-18 06:33:45Z rusu $ 00037 * 00038 */ 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