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<li class="navelem"><a class="el" href="dir_c94e79c2c5a14cf51fca344e688faa8f.html">pcl</a></li><li class="navelem"><a class="el" href="dir_1fa9e61e4e86bede49a260cd2971bd05.html">features</a></li>  </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  </span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{<span class="comment"></span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">  /** \brief BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">    * criterion. The code makes use of the estimated surface normals at each point in the input dataset.</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">    *</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">    * Here&#39;s an example for estimating boundary points for a PointXYZ point cloud:</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">    * \code</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">    * pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr cloud (new pcl::PointCloud&lt;pcl::PointXYZ&gt;);</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">    * // fill in the cloud data here</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">    * </span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">    * pcl::PointCloud&lt;pcl::Normal&gt;::Ptr normals (new pcl::PointCloud&lt;pcl::Normal&gt;);</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">    * // estimate normals and fill in \a normals</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">    *</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">    * pcl::PointCloud&lt;pcl::Boundary&gt; boundaries;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">    * pcl::BoundaryEstimation&lt;pcl::PointXYZ, pcl::Normal, pcl::Boundary&gt; est;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">    * est.setInputCloud (cloud);</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">    * est.setInputNormals (normals);</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">    * est.setRadiusSearch (0.02);   // 2cm radius</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">    * est.setSearchMethod (typename pcl::search::KdTree&lt;PointXYZ&gt;::Ptr (new pcl::search::KdTree&lt;PointXYZ&gt;)</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">    * est.compute (boundaries);</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">    * \endcode</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">    *</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">    * \attention </span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">    * The convention for Boundary features is:</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">    *   - if a query point&#39;s nearest neighbors cannot be estimated, the boundary feature will be set to NaN </span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">    *     (not a number)</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">    *   - it is impossible to estimate a boundary property for a point that</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">    *     doesn&#39;t have finite 3D coordinates. Therefore, any point that contains</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment">    *     NaN data on x, y, or z, will have its boundary feature property set to NaN.</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment">    *</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">    * \author Radu B. Rusu</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">    * \ingroup features</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">    */</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html">   79</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_boundary_estimation.html">BoundaryEstimation</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a0b89b65423ad0f43f179ae6abd49a0b0">   82</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#a0b89b65423ad0f43f179ae6abd49a0b0">Ptr</a> = shared_ptr&lt;BoundaryEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt;;</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a2515d6220cbae4de71d807fc2f580a41">   83</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#a2515d6220cbae4de71d807fc2f580a41">ConstPtr</a> = shared_ptr&lt;const BoundaryEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt;;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">   96</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">PointCloudOut</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">public</span>:<span class="comment"></span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment">      /** \brief Empty constructor. </span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">        * The angular threshold \a angle_threshold_ is set to M_PI / 2.0</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4">  102</a></span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4">BoundaryEstimation</a> () : <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a> (static_cast&lt;float&gt; (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) / 2.0f) </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;BoundaryEstimation&quot;</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      };</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="comment">     /** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="comment">        * \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment">        * \param[in] cloud a pointer to the input point cloud</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment">        * \param[in] q_idx the index of the query point in \a cloud</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">        * \param[in] indices the estimated point neighbors of the query point</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">        * \param[in] u the u direction</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">        * \param[in] v the v direction</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">        * \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a631d7e66ca6e9b62dc31235c3856c254">isBoundaryPoint</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                       <span class="keywordtype">int</span> q_idx, <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> &amp;indices, </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                       <span class="keyword">const</span> Eigen::Vector4f &amp;u, <span class="keyword">const</span> Eigen::Vector4f &amp;v, <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">      /** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="comment">        * \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="comment">        * \param[in] cloud a pointer to the input point cloud</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment">        * \param[in] q_point a pointer to the query point</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment">        * \param[in] indices the estimated point neighbors of the query point</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="comment">        * \param[in] u the u direction</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment">        * \param[in] v the v direction</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">        * \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a631d7e66ca6e9b62dc31235c3856c254">isBoundaryPoint</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                       <span class="keyword">const</span> PointInT &amp;q_point, </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                       <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> &amp;indices, </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                       <span class="keyword">const</span> Eigen::Vector4f &amp;u, <span class="keyword">const</span> Eigen::Vector4f &amp;v, <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">      /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular. </span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">        * (default \f$\pi / 2.0\f$) </span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">        * \param[in] angle the angle threshold</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084">  141</a></span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084">setAngleThreshold</a> (<span class="keywordtype">float</span> angle)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a> = angle;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment">      /** \brief Get the decision boundary (angle threshold) as set by the user. */</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88">  148</a></span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88">getAngleThreshold</a> ()</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a>);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">      /** \brief Get a u-v-n coordinate system that lies on a plane defined by its normal</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">        * \param[in] p_coeff the plane coefficients (containing the plane normal)</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">        * \param[out] u the resultant u direction</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">        * \param[out] v the resultant v direction</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">  159</a></span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">getCoordinateSystemOnPlane</a> (<span class="keyword">const</span> PointNT &amp;p_coeff, </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                                  Eigen::Vector4f &amp;u, Eigen::Vector4f &amp;v)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <a class="code" href="namespacepcl.html#a868c010207876ae6613dc04f5e9f9e46">pcl::Vector4fMapConst</a> p_coeff_v = p_coeff.getNormalVector4fMap ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        v = p_coeff_v.unitOrthogonal ();</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        u = p_coeff_v.cross3 (v);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment">      /** \brief Estimate whether a set of points is lying on surface boundaries using an angle criterion for all points</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="comment">        * given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () and the spatial locator in</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">        * setSearchMethod ()</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">        * \param[out] output the resultant point cloud model dataset that contains boundary point estimates</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908">computeFeature</a> (<a class="code" href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">PointCloudOut</a> &amp;output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">      /** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">  177</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  };</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/boundary.hpp&gt;</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html">pcl::BoundaryEstimation</a></div><div class="ttdoc">BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00079">boundary.h:80</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a085a59e06686a13ebe69997e6319e6c9"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">pcl::BoundaryEstimation::getCoordinateSystemOnPlane</a></div><div class="ttdeci">void getCoordinateSystemOnPlane(const PointNT &amp;p_coeff, Eigen::Vector4f &amp;u, Eigen::Vector4f &amp;v)</div><div class="ttdoc">Get a u-v-n coordinate system that lies on a plane defined by its normal.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00159">boundary.h:159</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a0b89b65423ad0f43f179ae6abd49a0b0"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a0b89b65423ad0f43f179ae6abd49a0b0">pcl::BoundaryEstimation::Ptr</a></div><div class="ttdeci">shared_ptr&lt; BoundaryEstimation&lt; PointInT, PointNT, PointOutT &gt; &gt; Ptr</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00082">boundary.h:82</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a0e22a0a0dd6cb8a7254490e645a10c88"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88">pcl::BoundaryEstimation::getAngleThreshold</a></div><div class="ttdeci">float getAngleThreshold()</div><div class="ttdoc">Get the decision boundary (angle threshold) as set by the user.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00148">boundary.h:148</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a20834d3b9eed1dcf4afa9dfe31dae4c4"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4">pcl::BoundaryEstimation::BoundaryEstimation</a></div><div class="ttdeci">BoundaryEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00102">boundary.h:102</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a2515d6220cbae4de71d807fc2f580a41"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a2515d6220cbae4de71d807fc2f580a41">pcl::BoundaryEstimation::ConstPtr</a></div><div class="ttdeci">shared_ptr&lt; const BoundaryEstimation&lt; PointInT, PointNT, PointOutT &gt; &gt; ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00083">boundary.h:83</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a34c7e758d93f6ee09c33ad72cd733908"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908">pcl::BoundaryEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output) override</div><div class="ttdoc">Estimate whether a set of points is lying on surface boundaries using an angle criterion for all poin...</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8hpp_source.html#l00116">boundary.hpp:116</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a46c6b6f8197a56be4651739d2f897084"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084">pcl::BoundaryEstimation::setAngleThreshold</a></div><div class="ttdeci">void setAngleThreshold(float angle)</div><div class="ttdoc">Set the decision boundary (angle threshold) that marks points as boundary or regular.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00141">boundary.h:141</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a572520445b0933a1b63ba6a00d36326d"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">pcl::BoundaryEstimation::PointCloudOut</a></div><div class="ttdeci">typename Feature&lt; PointInT, PointOutT &gt;::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00096">boundary.h:96</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a631d7e66ca6e9b62dc31235c3856c254"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a631d7e66ca6e9b62dc31235c3856c254">pcl::BoundaryEstimation::isBoundaryPoint</a></div><div class="ttdeci">bool isBoundaryPoint(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, int q_idx, const pcl::Indices &amp;indices, const Eigen::Vector4f &amp;u, const Eigen::Vector4f &amp;v, const float angle_threshold)</div><div class="ttdoc">Check whether a point is a boundary point in a planar patch of projected points given by indices.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8hpp_source.html#l00051">boundary.hpp:51</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_ab8bae1e67f3069db947d2e873a53e24c"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">pcl::BoundaryEstimation::angle_threshold_</a></div><div class="ttdeci">float angle_threshold_</div><div class="ttdoc">The decision boundary (angle threshold) that marks points as boundary or regular.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00177">boundary.h:177</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00308">feature.h:309</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00106">feature.h:107</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00220">feature.h:220</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointOutT &gt;</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="anamespacepcl_html_a868c010207876ae6613dc04f5e9f9e46"><div class="ttname"><a href="namespacepcl.html#a868c010207876ae6613dc04f5e9f9e46">pcl::Vector4fMapConst</a></div><div class="ttdeci">const Eigen::Map&lt; const Eigen::Vector4f, Eigen::Aligned &gt; Vector4fMapConst</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00202">point_types.hpp:202</a></div></div>
<div class="ttc" id="anamespacepcl_html_a8bfe09b8680e7129dd0fd6177c1a2ce6"><div class="ttname"><a href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a></div><div class="ttdeci">IndicesAllocator&lt;&gt; Indices</div><div class="ttdoc">Type used for indices in PCL.</div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.html#l00133">types.h:133</a></div></div>
<div class="ttc" id="apcl__macros_8h_html_ae71449b1cc6e6250b91f539153a7a0d3"><div class="ttname"><a href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a></div><div class="ttdeci">#define M_PI</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00203">pcl_macros.h:203</a></div></div>
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