43 #include <pcl/features/feature.h>
78 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
82 using Ptr = shared_ptr<BoundaryEstimation<PointInT, PointNT, PointOutT> >;
83 using ConstPtr = shared_ptr<const BoundaryEstimation<PointInT, PointNT, PointOutT> >;
119 const Eigen::Vector4f &u,
const Eigen::Vector4f &v,
const float angle_threshold);
132 const PointInT &q_point,
134 const Eigen::Vector4f &u,
const Eigen::Vector4f &v,
const float angle_threshold);
160 Eigen::Vector4f &u, Eigen::Vector4f &v)
163 v = p_coeff_v.unitOrthogonal ();
164 u = p_coeff_v.cross3 (v);
181 #ifdef PCL_NO_PRECOMPILE
182 #include <pcl/features/impl/boundary.hpp>
shared_ptr< const BoundaryEstimation< PointInT, PointNT, PointOutT > > ConstPtr
const Eigen::Map< const Eigen::Vector4f, Eigen::Aligned > Vector4fMapConst
std::string feature_name_
The feature name.
BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...
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.
float getAngleThreshold()
Get the decision boundary (angle threshold) as set by the user.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void setAngleThreshold(float angle)
Set the decision boundary (angle threshold) that marks points as boundary or regular.
shared_ptr< BoundaryEstimation< PointInT, PointNT, PointOutT > > Ptr
void computeFeature(PointCloudOut &output) override
Estimate whether a set of points is lying on surface boundaries using an angle criterion for all poin...
IndicesAllocator<> Indices
Type used for indices in PCL.
float angle_threshold_
The decision boundary (angle threshold) that marks points as boundary or regular. ...
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...
Feature represents the base feature class.
BoundaryEstimation()
Empty constructor.