Point Cloud Library (PCL) 1.14.0
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boundary.h
1/*
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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40
41#pragma once
42
43#include <pcl/features/feature.h>
44
45namespace pcl
46{
47 /** \brief BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle
48 * criterion. The code makes use of the estimated surface normals at each point in the input dataset.
49 *
50 * Here's an example for estimating boundary points for a PointXYZ point cloud:
51 * \code
52 * pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
53 * // fill in the cloud data here
54 *
55 * pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
56 * // estimate normals and fill in \a normals
57 *
58 * pcl::PointCloud<pcl::Boundary> boundaries;
59 * pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> est;
60 * est.setInputCloud (cloud);
61 * est.setInputNormals (normals);
62 * est.setRadiusSearch (0.02); // 2cm radius
63 * est.setSearchMethod (typename pcl::search::KdTree<PointXYZ>::Ptr (new pcl::search::KdTree<PointXYZ>)
64 * est.compute (boundaries);
65 * \endcode
66 *
67 * \attention
68 * The convention for Boundary features is:
69 * - if a query point's nearest neighbors cannot be estimated, the boundary feature will be set to NaN
70 * (not a number)
71 * - it is impossible to estimate a boundary property for a point that
72 * doesn't have finite 3D coordinates. Therefore, any point that contains
73 * NaN data on x, y, or z, will have its boundary feature property set to NaN.
74 *
75 * \author Radu B. Rusu
76 * \ingroup features
77 */
78 template <typename PointInT, typename PointNT, typename PointOutT>
79 class BoundaryEstimation: public FeatureFromNormals<PointInT, PointNT, PointOutT>
80 {
81 public:
82 using Ptr = shared_ptr<BoundaryEstimation<PointInT, PointNT, PointOutT> >;
83 using ConstPtr = shared_ptr<const BoundaryEstimation<PointInT, PointNT, PointOutT> >;
84
85 using Feature<PointInT, PointOutT>::feature_name_;
86 using Feature<PointInT, PointOutT>::getClassName;
87 using Feature<PointInT, PointOutT>::input_;
88 using Feature<PointInT, PointOutT>::indices_;
89 using Feature<PointInT, PointOutT>::k_;
90 using Feature<PointInT, PointOutT>::tree_;
91 using Feature<PointInT, PointOutT>::search_radius_;
92 using Feature<PointInT, PointOutT>::search_parameter_;
93 using Feature<PointInT, PointOutT>::surface_;
94 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
95
97
98 public:
99 /** \brief Empty constructor.
100 * The angular threshold \a angle_threshold_ is set to M_PI / 2.0
101 */
102 BoundaryEstimation () : angle_threshold_ (static_cast<float> (M_PI) / 2.0f)
103 {
104 feature_name_ = "BoundaryEstimation";
105 };
106
107 /** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.
108 * \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane
109 * \param[in] cloud a pointer to the input point cloud
110 * \param[in] q_idx the index of the query point in \a cloud
111 * \param[in] indices the estimated point neighbors of the query point
112 * \param[in] u the u direction
113 * \param[in] v the v direction
114 * \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)
115 */
116 bool
118 int q_idx, const pcl::Indices &indices,
119 const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);
120
121 /** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.
122 * \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane
123 * \param[in] cloud a pointer to the input point cloud
124 * \param[in] q_point a pointer to the query point
125 * \param[in] indices the estimated point neighbors of the query point
126 * \param[in] u the u direction
127 * \param[in] v the v direction
128 * \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)
129 */
130 bool
132 const PointInT &q_point,
133 const pcl::Indices &indices,
134 const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);
135
136 /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular.
137 * (default \f$\pi / 2.0\f$)
138 * \param[in] angle the angle threshold
139 */
140 inline void
141 setAngleThreshold (float angle)
142 {
143 angle_threshold_ = angle;
144 }
145
146 /** \brief Get the decision boundary (angle threshold) as set by the user. */
147 inline float
149 {
150 return (angle_threshold_);
151 }
152
153 /** \brief Get a u-v-n coordinate system that lies on a plane defined by its normal
154 * \param[in] p_coeff the plane coefficients (containing the plane normal)
155 * \param[out] u the resultant u direction
156 * \param[out] v the resultant v direction
157 */
158 inline void
159 getCoordinateSystemOnPlane (const PointNT &p_coeff,
160 Eigen::Vector4f &u, Eigen::Vector4f &v)
161 {
162 pcl::Vector4fMapConst p_coeff_v = p_coeff.getNormalVector4fMap ();
163 v = p_coeff_v.unitOrthogonal ();
164 u = p_coeff_v.cross3 (v);
165 }
166
167 protected:
168 /** \brief Estimate whether a set of points is lying on surface boundaries using an angle criterion for all points
169 * given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
170 * setSearchMethod ()
171 * \param[out] output the resultant point cloud model dataset that contains boundary point estimates
172 */
173 void
174 computeFeature (PointCloudOut &output) override;
175
176 /** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */
178 };
179}
180
181#ifdef PCL_NO_PRECOMPILE
182#include <pcl/features/impl/boundary.hpp>
183#endif
BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...
Definition boundary.h:80
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.
Definition boundary.h:159
shared_ptr< BoundaryEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition boundary.h:82
float getAngleThreshold()
Get the decision boundary (angle threshold) as set by the user.
Definition boundary.h:148
BoundaryEstimation()
Empty constructor.
Definition boundary.h:102
shared_ptr< const BoundaryEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition boundary.h:83
void computeFeature(PointCloudOut &output) override
Estimate whether a set of points is lying on surface boundaries using an angle criterion for all poin...
Definition boundary.hpp:116
void setAngleThreshold(float angle)
Set the decision boundary (angle threshold) that marks points as boundary or regular.
Definition boundary.h:141
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition boundary.h:96
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.
Definition boundary.hpp:51
float angle_threshold_
The decision boundary (angle threshold) that marks points as boundary or regular.
Definition boundary.h:177
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition feature.h:349
Feature represents the base feature class.
Definition feature.h:107
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:234
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
double search_radius_
The nearest neighbors search radius for each point.
Definition feature.h:237
int k_
The number of K nearest neighbors to use for each point.
Definition feature.h:240
std::string feature_name_
The feature name.
Definition feature.h:220
KdTreePtr tree_
A pointer to the spatial search object.
Definition feature.h:231
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:228
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
#define M_PI
Definition pcl_macros.h:201