boundary.hpp
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#ifndef PCL_FEATURES_IMPL_BOUNDARY_H_
#define PCL_FEATURES_IMPL_BOUNDARY_H_
#include <pcl/features/boundary.h>
#include <cfloat>
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> bool
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint (
const pcl::PointCloud<PointInT> &cloud, int q_idx,
const std::vector<int> &indices,
const Eigen::Vector4f &u, const Eigen::Vector4f &v,
const float angle_threshold)
{
return (isBoundaryPoint (cloud, cloud.points[q_idx], indices, u, v, angle_threshold));
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> bool
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint (
const pcl::PointCloud<PointInT> &cloud, const PointInT &q_point,
const std::vector<int> &indices,
const Eigen::Vector4f &u, const Eigen::Vector4f &v,
const float angle_threshold)
{
if (indices.size () < 3)
return (false);
if (!std::isfinite (q_point.x) || !std::isfinite (q_point.y) || !std::isfinite (q_point.z))
return (false);
// Compute the angles between each neighboring point and the query point itself
std::vector<float> angles (indices.size ());
float max_dif = FLT_MIN, dif;
int cp = 0;
for (const int &index : indices)
{
if (!std::isfinite (cloud.points[index].x) ||
!std::isfinite (cloud.points[index].y) ||
!std::isfinite (cloud.points[index].z))
continue;
Eigen::Vector4f delta = cloud.points[index].getVector4fMap () - q_point.getVector4fMap ();
if (delta == Eigen::Vector4f::Zero())
continue;
angles[cp++] = std::atan2 (v.dot (delta), u.dot (delta)); // the angles are fine between -PI and PI too
}
if (cp == 0)
return (false);
angles.resize (cp);
std::sort (angles.begin (), angles.end ());
// Compute the maximal angle difference between two consecutive angles
for (std::size_t i = 0; i < angles.size () - 1; ++i)
{
dif = angles[i + 1] - angles[i];
if (max_dif < dif)
max_dif = dif;
}
// Get the angle difference between the last and the first
dif = 2 * static_cast<float> (M_PI) - angles[angles.size () - 1] + angles[0];
if (max_dif < dif)
max_dif = dif;
// Check results
return (max_dif > angle_threshold);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
{
// Allocate enough space to hold the results
// \note This resize is irrelevant for a radiusSearch ().
std::vector<int> nn_indices (k_);
std::vector<float> nn_dists (k_);
Eigen::Vector4f u = Eigen::Vector4f::Zero (), v = Eigen::Vector4f::Zero ();
output.is_dense = true;
// Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
if (input_->is_dense)
{
// Iterating over the entire index vector
for (std::size_t idx = 0; idx < indices_->size (); ++idx)
{
if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
{
output.points[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();
output.is_dense = false;
continue;
}
// Obtain a coordinate system on the least-squares plane
//v = normals_->points[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
//u = normals_->points[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
getCoordinateSystemOnPlane (normals_->points[(*indices_)[idx]], u, v);
// Estimate whether the point is lying on a boundary surface or not
output.points[idx].boundary_point = isBoundaryPoint (*surface_, input_->points[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
}
}
else
{
// Iterating over the entire index vector
for (std::size_t idx = 0; idx < indices_->size (); ++idx)
{
if (!isFinite ((*input_)[(*indices_)[idx]]) ||
this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
{
output.points[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();
output.is_dense = false;
continue;
}
// Obtain a coordinate system on the least-squares plane
//v = normals_->points[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
//u = normals_->points[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
getCoordinateSystemOnPlane (normals_->points[(*indices_)[idx]], u, v);
// Estimate whether the point is lying on a boundary surface or not
output.points[idx].boundary_point = isBoundaryPoint (*surface_, input_->points[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
}
}
}
#define PCL_INSTANTIATE_BoundaryEstimation(PointInT,PointNT,PointOutT) template class PCL_EXPORTS pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>;
#endif // PCL_FEATURES_IMPL_BOUNDARY_H_
pcl::PointCloud::points
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:397
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
pcl::BoundaryEstimation::PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: boundary.h:97
pcl::PointCloud< PointInT >
pcl::BoundaryEstimation::isBoundaryPoint
bool isBoundaryPoint(const pcl::PointCloud< PointInT > &cloud, int q_idx, const std::vector< int > &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:49
pcl::BoundaryEstimation::computeFeature
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:114