Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/features/include/pcl/features/boundary.h
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00040 
00041 #ifndef PCL_BOUNDARY_H_
00042 #define PCL_BOUNDARY_H_
00043 
00044 #include <pcl/features/eigen.h>
00045 #include <pcl/features/feature.h>
00046 
00047 namespace pcl
00048 {
00049   /** \brief BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle
00050     * criterion. The code makes use of the estimated surface normals at each point in the input dataset.
00051     *
00052     * Here's an example for estimating boundary points for a PointXYZ point cloud:
00053     * \code
00054     * pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
00055     * // fill in the cloud data here
00056     * 
00057     * pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
00058     * // estimate normals and fill in \a normals
00059     *
00060     * pcl::PointCloud<pcl::Boundary> boundaries;
00061     * pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> est;
00062     * est.setInputCloud (cloud);
00063     * est.setInputNormals (normals);
00064     * est.setRadiusSearch (0.02);   // 2cm radius
00065     * est.setSearchMethod (typename pcl::search::KdTree<PointXYZ>::Ptr (new pcl::search::KdTree<PointXYZ>)
00066     * est.compute (boundaries);
00067     * \endcode
00068     *
00069     * \attention 
00070     * The convention for Boundary features is:
00071     *   - if a query point's nearest neighbors cannot be estimated, the boundary feature will be set to NaN 
00072     *     (not a number)
00073     *   - it is impossible to estimate a boundary property for a point that
00074     *     doesn't have finite 3D coordinates. Therefore, any point that contains
00075     *     NaN data on x, y, or z, will have its boundary feature property set to NaN.
00076     *
00077     * \author Radu B. Rusu
00078     * \ingroup features
00079     */
00080   template <typename PointInT, typename PointNT, typename PointOutT>
00081   class BoundaryEstimation: public FeatureFromNormals<PointInT, PointNT, PointOutT>
00082   {
00083     public:
00084       typedef boost::shared_ptr<BoundaryEstimation<PointInT, PointNT, PointOutT> > Ptr;
00085       typedef boost::shared_ptr<const BoundaryEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
00086 
00087       using Feature<PointInT, PointOutT>::feature_name_;
00088       using Feature<PointInT, PointOutT>::getClassName;
00089       using Feature<PointInT, PointOutT>::input_;
00090       using Feature<PointInT, PointOutT>::indices_;
00091       using Feature<PointInT, PointOutT>::k_;
00092       using Feature<PointInT, PointOutT>::tree_;
00093       using Feature<PointInT, PointOutT>::search_radius_;
00094       using Feature<PointInT, PointOutT>::search_parameter_;
00095       using Feature<PointInT, PointOutT>::surface_;
00096       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00097 
00098       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00099 
00100     public:
00101       /** \brief Empty constructor. 
00102         * The angular threshold \a angle_threshold_ is set to M_PI / 2.0
00103         */
00104       BoundaryEstimation () : angle_threshold_ (static_cast<float> (M_PI) / 2.0f) 
00105       {
00106         feature_name_ = "BoundaryEstimation";
00107       };
00108 
00109      /** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.
00110         * \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane
00111         * \param[in] cloud a pointer to the input point cloud
00112         * \param[in] q_idx the index of the query point in \a cloud
00113         * \param[in] indices the estimated point neighbors of the query point
00114         * \param[in] u the u direction
00115         * \param[in] v the v direction
00116         * \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)
00117         */
00118       bool 
00119       isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud, 
00120                        int q_idx, const std::vector<int> &indices, 
00121                        const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);
00122 
00123       /** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.
00124         * \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane
00125         * \param[in] cloud a pointer to the input point cloud
00126         * \param[in] q_point a pointer to the querry point
00127         * \param[in] indices the estimated point neighbors of the query point
00128         * \param[in] u the u direction
00129         * \param[in] v the v direction
00130         * \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)
00131         */
00132       bool 
00133       isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud, 
00134                        const PointInT &q_point, 
00135                        const std::vector<int> &indices, 
00136                        const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);
00137 
00138       /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular. 
00139         * (default \f$\pi / 2.0\f$) 
00140         * \param[in] angle the angle threshold
00141         */
00142       inline void
00143       setAngleThreshold (float angle)
00144       {
00145         angle_threshold_ = angle;
00146       }
00147 
00148       /** \brief Get the decision boundary (angle threshold) as set by the user. */
00149       inline float
00150       getAngleThreshold ()
00151       {
00152         return (angle_threshold_);
00153       }
00154 
00155       /** \brief Get a u-v-n coordinate system that lies on a plane defined by its normal
00156         * \param[in] p_coeff the plane coefficients (containing the plane normal)
00157         * \param[out] u the resultant u direction
00158         * \param[out] v the resultant v direction
00159         */
00160       inline void 
00161       getCoordinateSystemOnPlane (const PointNT &p_coeff, 
00162                                   Eigen::Vector4f &u, Eigen::Vector4f &v)
00163       {
00164         pcl::Vector4fMapConst p_coeff_v = p_coeff.getNormalVector4fMap ();
00165         v = p_coeff_v.unitOrthogonal ();
00166         u = p_coeff_v.cross3 (v);
00167       }
00168 
00169     protected:
00170       /** \brief Estimate whether a set of points is lying on surface boundaries using an angle criterion for all points
00171         * given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
00172         * setSearchMethod ()
00173         * \param[out] output the resultant point cloud model dataset that contains boundary point estimates
00174         */
00175       void 
00176       computeFeature (PointCloudOut &output);
00177 
00178       /** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */
00179       float angle_threshold_;
00180   };
00181 }
00182 
00183 #ifdef PCL_NO_PRECOMPILE
00184 #include <pcl/features/impl/boundary.hpp>
00185 #endif
00186 
00187 #endif  //#ifndef PCL_BOUNDARY_H_