шаблон<typename PointInT, typename PointNT, typename PointOutT>
класс pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >

BoundaryEstimation оценивает, лежит ли набор точек на границах поверхности, используя критерий угла.

Код использует оценённые нормали к поверхности в каждой точке входного набора данных.

Вот пример оценки граничных точек для облака точек PointXYZ:

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
// fill in the cloud data here
 
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
// estimate normals and fill in \a normals
 
pcl::PointCloud<pcl::Boundary> boundaries;
pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> est;
est.setInputCloud (cloud);
est.setInputNormals (normals);
est.setRadiusSearch (0.02); // 2cm radius
est.setSearchMethod (typename pcl::search::KdTree<PointXYZ>::Ptr (new pcl::search::KdTree<PointXYZ>)
est.compute (boundaries);
pcl::BoundaryEstimationBoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...Definition: boundary.h:80
pcl::BoundaryEstimation
BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...
Definition: boundary.h:80
pcl::FeatureFromNormals::setInputNormalsvoid setInputNormals(const PointCloudNConstPtr &normals)Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.Definition: feature.h:339
pcl::FeatureFromNormals::setInputNormals
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition: feature.h:339
pcl::Feature::setRadiusSearchvoid setRadiusSearch(double radius)Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...Definition: feature.h:198
pcl::Feature::setRadiusSearch
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
Definition: feature.h:198
pcl::Feature::setSearchMethodvoid setSearchMethod(const KdTreePtr &tree)Provide a pointer to the search object.Definition: feature.h:164
pcl::Feature::setSearchMethod
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
Definition: feature.h:164
pcl::Feature::computevoid compute(PointCloudOut &output)Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using th...Definition: feature.hpp:194
pcl::Feature::compute
void compute(PointCloudOut &output)
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using th...
Definition: feature.hpp:194
pcl::PCLBase::setInputCloudvirtual void setInputCloud(const PointCloudConstPtr &cloud)Provide a pointer to the input dataset.Definition: pcl_base.hpp:65
pcl::PCLBase::setInputCloud
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition: pcl_base.hpp:65
pcl::PointCloud< pcl::PointXYZ >
pcl::PointCloud< pcl::PointXYZ >
pcl::PointCloud::Ptrshared_ptr< PointCloud< PointT > > PtrDefinition: point_cloud.h:413
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::search::KdTreesearch::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...Definition: kdtree.h:62
pcl::search::KdTree
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
Definition: kdtree.h:62
pcl::search::KdTree::Ptrshared_ptr< KdTree< PointT, Tree > > PtrDefinition: kdtree.h:75
pcl::search::KdTree::Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition: kdtree.h:75

Внимание

Конвенция для Boundary признаков:

• если ближайшие соседи точки-запроса не могут быть оценены, то признак границы будет установлен в NaN (не число)
• невозможно оценить свойство границы для точки, у которой нет конечных 3D-координат. Поэтому любая точка, содержащая данные NaN в x, y или z, будет иметь свойство признака границы, установленное в NaN.

Автор

Radu B. Rusu

Определение в строке 79 файла boundary.h.