point_cloud_library / 1.12.1 / classpcl_1_1_range_image_border_extractor.html /

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background. More...

#include <pcl/features/range_image_border_extractor.h>

Classes
struct LocalSurface
Stores some information extracted from the neighborhood of a point. More...
struct Parameters
Parameters used in this class. More...
struct ShadowBorderIndices
Stores the indices of the shadow border corresponding to obstacle borders. More...

Public Types
using Ptr = shared_ptr< RangeImageBorderExtractor >
using ConstPtr = shared_ptr< const RangeImageBorderExtractor >
using BaseClass = Feature< PointWithRange, BorderDescription >
- Public Types inherited from pcl::Feature< PointWithRange, BorderDescription >
using BaseClass = PCLBase< PointWithRange >
using Ptr = shared_ptr< Feature< PointWithRange, BorderDescription > >
using ConstPtr = shared_ptr< const Feature< PointWithRange, BorderDescription > >
using KdTree = pcl::search::Search< PointWithRange >
using KdTreePtr = typename KdTree::Ptr
using PointCloudIn = pcl::PointCloud< PointWithRange >
using PointCloudInPtr = typename PointCloudIn::Ptr
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using PointCloudOut = pcl::PointCloud< BorderDescription >
using SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>
- Public Types inherited from pcl::PCLBase< PointWithRange >
using PointCloud = pcl::PointCloud< PointWithRange >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
RangeImageBorderExtractor (const RangeImage *range_image=nullptr)
Constructor. More...
~RangeImageBorderExtractor ()
Destructor. More...
void setRangeImage (const RangeImage *range_image)
Provide a pointer to the range image. More...
void clearData ()
Erase all data calculated for the current range image. More...
float * getAnglesImageForBorderDirections ()
Get the 2D directions in the range image from the border directions - probably mainly useful for visualization. More...
float * getAnglesImageForSurfaceChangeDirections ()
Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization. More...
void compute (PointCloudOut &output)
Overwrite the compute function of the base class. More...
Parameters & getParameters ()
bool hasRangeImage () const
const RangeImage & getRangeImage () const
float * getBorderScoresLeft ()
float * getBorderScoresRight ()
float * getBorderScoresTop ()
float * getBorderScoresBottom ()
LocalSurface ** getSurfaceStructure ()
PointCloudOut & getBorderDescriptions ()
ShadowBorderIndices ** getShadowBorderInformations ()
Eigen::Vector3f ** getBorderDirections ()
float * getSurfaceChangeScores ()
Eigen::Vector3f * getSurfaceChangeDirections ()
- Public Member Functions inherited from pcl::Feature< PointWithRange, BorderDescription >
Feature ()
Empty constructor. More...
virtual ~Feature ()
Empty destructor. More...
void setSearchSurface (const PointCloudInConstPtr &cloud)
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...
PointCloudInConstPtr getSearchSurface () const
Get a pointer to the surface point cloud dataset. More...
void setSearchMethod (const KdTreePtr &tree)
Provide a pointer to the search object. More...
KdTreePtr getSearchMethod () const
Get a pointer to the search method used. More...
double getSearchParameter () const
Get the internal search parameter. More...
void setKSearch (int k)
Set the number of k nearest neighbors to use for the feature estimation. More...
int getKSearch () const
get the number of k nearest neighbors used for the feature estimation. More...
void setRadiusSearch (double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
double getRadiusSearch () const
Get the sphere radius used for determining the neighbors. More...
void compute (PointCloudOut &output)
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
- Public Member Functions inherited from pcl::PCLBase< PointWithRange >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointWithRange & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Static Public Member Functions
static float getObstacleBorderAngle (const BorderTraits &border_traits)
Take the information from BorderTraits to calculate the local direction of the border. More...

Protected Member Functions
float getNeighborDistanceChangeScore (const LocalSurface &local_surface, int x, int y, int offset_x, int offset_y, int pixel_radius=1) const
Calculate a border score based on how distant the neighbor is, compared to the closest neighbors /param local_surface /param x /param y /param offset_x /param offset_y /param pixel_radius (defaults to 1) /return the resulting border score. More...
float getNormalBasedBorderScore (const LocalSurface &local_surface, int x, int y, int offset_x, int offset_y) const
Calculate a border score based on how much the neighbor is away from the local surface plane. More...
bool changeScoreAccordingToShadowBorderValue (int x, int y, int offset_x, int offset_y, float *border_scores, float *border_scores_other_direction, int &shadow_border_idx) const
Find the best corresponding shadow border and lower score according to the shadow borders value. More...
float updatedScoreAccordingToNeighborValues (int x, int y, const float *border_scores) const
Returns a new score for the given pixel that is >= the original value, based on the neighbors values. More...
float * updatedScoresAccordingToNeighborValues (const float *border_scores) const
For all pixels, returns a new score that is >= the original value, based on the neighbors values. More...
void updateScoresAccordingToNeighborValues ()
Replace all border score values with updates according to updatedScoreAccordingToNeighborValues. More...
bool checkPotentialBorder (int x, int y, int offset_x, int offset_y, float *border_scores_left, float *border_scores_right, int &shadow_border_idx) const
Check if a potential border point has a corresponding shadow border. More...
bool checkIfMaximum (int x, int y, int offset_x, int offset_y, float *border_scores, int shadow_border_idx) const
Check if a potential border point is a maximum regarding the border score. More...
void findAndEvaluateShadowBorders ()
Find the best corresponding shadow border and lower score according to the shadow borders value. More...
void extractLocalSurfaceStructure ()
Extract local plane information in every point (see getSurfaceStructure ()) More...
void extractBorderScoreImages ()
Get images representing the probability that the corresponding pixels are borders in that direction (see getBorderScores... More...
void classifyBorders ()
Classify the pixels in the range image according to the different classes defined below in enum BorderClass. More...
void calculateBorderDirection (int x, int y)
Calculate the 3D direction of the border just using the border traits at this position (facing away from the obstacle) More...
void calculateBorderDirections ()
Call calculateBorderDirection for every point and average the result over parameters_.pixel_radius_border_direction. More...
bool get3dDirection (const BorderDescription &border_description, Eigen::Vector3f &direction, const LocalSurface *local_surface=nullptr)
Calculate a 3d direction from a border point by projecting the direction in the range image - returns false if direction could not be calculated. More...
bool calculateMainPrincipalCurvature (int x, int y, int radius, float &magnitude, Eigen::Vector3f &main_direction) const
Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the normals in the area) in the given point. More...
void calculateSurfaceChanges ()
Uses either the border or principal curvature to define a score how much the surface changes in a point (1 for a border) and what the main direction of that change is. More...
void blurSurfaceChanges ()
Apply a blur to the surface change images. More...
void computeFeature (PointCloudOut &output) override
Implementation of abstract derived function. More...
- Protected Member Functions inherited from pcl::Feature< PointWithRange, BorderDescription >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
virtual bool initCompute ()
This method should get called before starting the actual computation. More...
virtual bool deinitCompute ()
This method should get called after ending the actual computation. More...
int searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
int searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
- Protected Member Functions inherited from pcl::PCLBase< PointWithRange >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...

Protected Attributes
Parameters parameters_
const RangeImage * range_image_
int range_image_size_during_extraction_
std::vector< float > border_scores_left_
std::vector< float > border_scores_right_
std::vector< float > border_scores_top_
std::vector< float > border_scores_bottom_
LocalSurface ** surface_structure_
PointCloudOut * border_descriptions_
ShadowBorderIndices ** shadow_border_informations_
Eigen::Vector3f ** border_directions_
float * surface_change_scores_
Eigen::Vector3f * surface_change_directions_
- Protected Attributes inherited from pcl::Feature< PointWithRange, BorderDescription >
std::string feature_name_
The feature name. More...
SearchMethodSurface search_method_surface_
The search method template for points. More...
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
KdTreePtr tree_
A pointer to the spatial search object. More...
double search_parameter_
The actual search parameter (from either search_radius_ or k_). More...
double search_radius_
The nearest neighbors search radius for each point. More...
int k_
The number of K nearest neighbors to use for each point. More...
bool fake_surface_
If no surface is given, we use the input PointCloud as the surface. More...
- Protected Attributes inherited from pcl::PCLBase< PointWithRange >
PointCloudConstPtr input_
The input point cloud dataset. More...
IndicesPtr indices_
A pointer to the vector of point indices to use. More...
bool use_indices_
Set to true if point indices are used. More...
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background.

Author
Bastian Steder

Definition at line 55 of file range_image_border_extractor.h.

Member Typedef Documentation

BaseClass

using pcl::RangeImageBorderExtractor::BaseClass = Feature<PointWithRange,BorderDescription>

Definition at line 61 of file range_image_border_extractor.h.

ConstPtr

using pcl::RangeImageBorderExtractor::ConstPtr = shared_ptr<const RangeImageBorderExtractor>

Definition at line 59 of file range_image_border_extractor.h.

Ptr

using pcl::RangeImageBorderExtractor::Ptr = shared_ptr<RangeImageBorderExtractor>

Definition at line 58 of file range_image_border_extractor.h.

Constructor & Destructor Documentation

RangeImageBorderExtractor()

pcl::RangeImageBorderExtractor::RangeImageBorderExtractor ( const RangeImage * range_image = nullptr )

Constructor.

~RangeImageBorderExtractor()

pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor ( )

Destructor.

Member Function Documentation

blurSurfaceChanges()

void pcl::RangeImageBorderExtractor::blurSurfaceChanges ( )
protected

Apply a blur to the surface change images.

calculateBorderDirection()

void pcl::RangeImageBorderExtractor::calculateBorderDirection ( int x,
int y
)
inlineprotected

Calculate the 3D direction of the border just using the border traits at this position (facing away from the obstacle)

Parameters
x the x-coordinate of the input position
y the y-coordinate of the input position

Definition at line 162 of file range_image_border_extractor.hpp.

References border_directions_, pcl::BORDER_TRAIT__OBSTACLE_BORDER, get3dDirection(), range_image_, surface_structure_, pcl::BorderDescription::traits, and pcl::PointCloud< PointT >::width.

calculateBorderDirections()

void pcl::RangeImageBorderExtractor::calculateBorderDirections ( )
protected

Call calculateBorderDirection for every point and average the result over parameters_.pixel_radius_border_direction.

calculateMainPrincipalCurvature()

bool pcl::RangeImageBorderExtractor::calculateMainPrincipalCurvature ( int x,
int y,
int radius,
float & magnitude,
Eigen::Vector3f & main_direction
) const
inlineprotected

Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the normals in the area) in the given point.

Parameters
x the x-coordinate of the input point
y the y-coordinate of the input point
radius the pixel radius that is used to find neighboring points
magnitude the resulting magnitude
main_direction the resulting direction

Definition at line 312 of file range_image_border_extractor.hpp.

References pcl::VectorAverage< real, dimension >::add(), pcl::BORDER_TRAIT__SHADOW_BORDER, pcl::BORDER_TRAIT__VEIL_POINT, pcl::VectorAverage< real, dimension >::doPCA(), pcl::VectorAverage< real, dimension >::getNoOfSamples(), pcl::RangeImage::isValid(), pcl::RangeImageBorderExtractor::LocalSurface::normal_no_jumps, range_image_, surface_structure_, and pcl::PointCloud< PointT >::width.

calculateSurfaceChanges()

void pcl::RangeImageBorderExtractor::calculateSurfaceChanges ( )
protected

Uses either the border or principal curvature to define a score how much the surface changes in a point (1 for a border) and what the main direction of that change is.

changeScoreAccordingToShadowBorderValue()

bool pcl::RangeImageBorderExtractor::changeScoreAccordingToShadowBorderValue ( int x,
int y,
int offset_x,
int offset_y,
float * border_scores,
float * border_scores_other_direction,
int & shadow_border_idx
) const
inlineprotected

Find the best corresponding shadow border and lower score according to the shadow borders value.

Parameters
x
y
offset_x
offset_y
border_scores
border_scores_other_direction
shadow_border_idx
Returns

Definition at line 180 of file range_image_border_extractor.hpp.

References pcl::RangeImage::isInImage(), pcl::RangeImage::isMaxRange(), pcl::RangeImageBorderExtractor::Parameters::minimum_border_probability, parameters_, pcl::RangeImageBorderExtractor::Parameters::pixel_radius_borders, range_image_, and pcl::PointCloud< PointT >::width.

checkIfMaximum()

bool pcl::RangeImageBorderExtractor::checkIfMaximum ( int x,
int y,
int offset_x,
int offset_y,
float * border_scores,
int shadow_border_idx
) const
inlineprotected

Check if a potential border point is a maximum regarding the border score.

Parameters
x the x-coordinate of the input point
y the y-coordinate of the input point
offset_x
offset_y
border_scores
shadow_border_idx
Returns
a boolean value indicating whether or not the point is a maximum

Definition at line 289 of file range_image_border_extractor.hpp.

References pcl::RangeImage::isInImage(), parameters_, pcl::RangeImageBorderExtractor::Parameters::pixel_radius_borders, range_image_, and pcl::PointCloud< PointT >::width.

checkPotentialBorder()

bool pcl::RangeImageBorderExtractor::checkPotentialBorder ( int x,
int y,
int offset_x,
int offset_y,
float * border_scores_left,
float * border_scores_right,
int & shadow_border_idx
) const
inlineprotected

Check if a potential border point has a corresponding shadow border.

Parameters
x the x-coordinate of the input point
y the y-coordinate of the input point
offset_x
offset_y
border_scores_left
border_scores_right
shadow_border_idx
Returns
a boolean value indicating whether or not the point has a corresponding shadow border

Definition at line 258 of file range_image_border_extractor.hpp.

References pcl::RangeImage::isInImage(), pcl::RangeImageBorderExtractor::Parameters::minimum_border_probability, parameters_, pcl::RangeImageBorderExtractor::Parameters::pixel_radius_borders, range_image_, and pcl::PointCloud< PointT >::width.

classifyBorders()

void pcl::RangeImageBorderExtractor::classifyBorders ( )
protected

Classify the pixels in the range image according to the different classes defined below in enum BorderClass.

minImpactAngle (in radians) defines how flat the angle at which a surface was seen can be.

clearData()

void pcl::RangeImageBorderExtractor::clearData ( )

Erase all data calculated for the current range image.

compute()

void pcl::RangeImageBorderExtractor::compute ( PointCloudOut & output )

Overwrite the compute function of the base class.

computeFeature()

void pcl::RangeImageBorderExtractor::computeFeature ( PointCloudOut & output )
overrideprotectedvirtual

Implementation of abstract derived function.

Implements pcl::Feature< PointWithRange, BorderDescription >.

extractBorderScoreImages()

void pcl::RangeImageBorderExtractor::extractBorderScoreImages ( )
protected

Get images representing the probability that the corresponding pixels are borders in that direction (see getBorderScores...

())

extractLocalSurfaceStructure()

void pcl::RangeImageBorderExtractor::extractLocalSurfaceStructure ( )
protected

Extract local plane information in every point (see getSurfaceStructure ())

findAndEvaluateShadowBorders()

void pcl::RangeImageBorderExtractor::findAndEvaluateShadowBorders ( )
protected

Find the best corresponding shadow border and lower score according to the shadow borders value.

get3dDirection()

bool pcl::RangeImageBorderExtractor::get3dDirection ( const BorderDescription & border_description,
Eigen::Vector3f & direction,
const LocalSurface * local_surface = nullptr
)
inlineprotected

Calculate a 3d direction from a border point by projecting the direction in the range image - returns false if direction could not be calculated.

Parameters
border_description
direction
local_surface
Returns
a boolean value indicating whether or not a direction could be calculated

Definition at line 120 of file range_image_border_extractor.hpp.

References pcl::BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM, pcl::BORDER_TRAIT__OBSTACLE_BORDER_LEFT, pcl::BORDER_TRAIT__OBSTACLE_BORDER_RIGHT, pcl::BORDER_TRAIT__OBSTACLE_BORDER_TOP, pcl::RangeImage::calculate3DPoint(), pcl::RangeImage::getPoint(), pcl::RangeImage::getSensorPos(), pcl::RangeImageBorderExtractor::LocalSurface::neighborhood_mean_no_jumps, pcl::RangeImageBorderExtractor::LocalSurface::normal_no_jumps, pcl::_PointWithRange::range, range_image_, pcl::BorderDescription::traits, pcl::BorderDescription::x, and pcl::BorderDescription::y.

Referenced by calculateBorderDirection().

getAnglesImageForBorderDirections()

float* pcl::RangeImageBorderExtractor::getAnglesImageForBorderDirections ( )

Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.

getAnglesImageForSurfaceChangeDirections()

float* pcl::RangeImageBorderExtractor::getAnglesImageForSurfaceChangeDirections ( )

Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.

getBorderDescriptions()

PointCloudOut& pcl::RangeImageBorderExtractor::getBorderDescriptions ( )
inline

Definition at line 165 of file range_image_border_extractor.h.

getBorderDirections()

Eigen::Vector3f** pcl::RangeImageBorderExtractor::getBorderDirections ( )
inline

Definition at line 171 of file range_image_border_extractor.h.

getBorderScoresBottom()

float* pcl::RangeImageBorderExtractor::getBorderScoresBottom ( )
inline

Definition at line 159 of file range_image_border_extractor.h.

getBorderScoresLeft()

float* pcl::RangeImageBorderExtractor::getBorderScoresLeft ( )
inline

Definition at line 150 of file range_image_border_extractor.h.

getBorderScoresRight()

float* pcl::RangeImageBorderExtractor::getBorderScoresRight ( )
inline

Definition at line 153 of file range_image_border_extractor.h.

getBorderScoresTop()

float* pcl::RangeImageBorderExtractor::getBorderScoresTop ( )
inline

Definition at line 156 of file range_image_border_extractor.h.

getNeighborDistanceChangeScore()

float pcl::RangeImageBorderExtractor::getNeighborDistanceChangeScore ( const LocalSurface & local_surface,
int x,
int y,
int offset_x,
int offset_y,
int pixel_radius = 1
) const
inlineprotected

Calculate a border score based on how distant the neighbor is, compared to the closest neighbors /param local_surface /param x /param y /param offset_x /param offset_y /param pixel_radius (defaults to 1) /return the resulting border score.

Definition at line 70 of file range_image_border_extractor.hpp.

References pcl::RangeImage::get1dPointAverage(), pcl::RangeImage::getPoint(), pcl::RangeImageBorderExtractor::LocalSurface::max_neighbor_distance_squared, pcl::_PointWithRange::range, range_image_, and pcl::squaredEuclideanDistance().

getNormalBasedBorderScore()

float pcl::RangeImageBorderExtractor::getNormalBasedBorderScore ( const LocalSurface & local_surface,
int x,
int y,
int offset_x,
int offset_y
) const
inlineprotected

Calculate a border score based on how much the neighbor is away from the local surface plane.

Parameters
local_surface
x
y
offset_x
offset_y
Returns
the resulting border score

getObstacleBorderAngle()

float pcl::RangeImageBorderExtractor::getObstacleBorderAngle ( const BorderTraits & border_traits )
inlinestatic

Take the information from BorderTraits to calculate the local direction of the border.

Parameters
border_traits contains the information needed to calculate the border angle

Definition at line 45 of file range_image_border_extractor.hpp.

References pcl::BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM, pcl::BORDER_TRAIT__OBSTACLE_BORDER_LEFT, pcl::BORDER_TRAIT__OBSTACLE_BORDER_RIGHT, and pcl::BORDER_TRAIT__OBSTACLE_BORDER_TOP.

getParameters()

Parameters& pcl::RangeImageBorderExtractor::getParameters ( )
inline

Definition at line 141 of file range_image_border_extractor.h.

getRangeImage()

const RangeImage& pcl::RangeImageBorderExtractor::getRangeImage ( ) const
inline

Definition at line 147 of file range_image_border_extractor.h.

getShadowBorderInformations()

ShadowBorderIndices** pcl::RangeImageBorderExtractor::getShadowBorderInformations ( )
inline

Definition at line 168 of file range_image_border_extractor.h.

getSurfaceChangeDirections()

Eigen::Vector3f* pcl::RangeImageBorderExtractor::getSurfaceChangeDirections ( )
inline

Definition at line 177 of file range_image_border_extractor.h.

getSurfaceChangeScores()

float* pcl::RangeImageBorderExtractor::getSurfaceChangeScores ( )
inline

Definition at line 174 of file range_image_border_extractor.h.

getSurfaceStructure()

LocalSurface** pcl::RangeImageBorderExtractor::getSurfaceStructure ( )
inline

Definition at line 162 of file range_image_border_extractor.h.

hasRangeImage()

bool pcl::RangeImageBorderExtractor::hasRangeImage ( ) const
inline

Definition at line 144 of file range_image_border_extractor.h.

setRangeImage()

void pcl::RangeImageBorderExtractor::setRangeImage ( const RangeImage * range_image )

Provide a pointer to the range image.

Parameters
range_image a pointer to the range_image

updatedScoreAccordingToNeighborValues()

float pcl::RangeImageBorderExtractor::updatedScoreAccordingToNeighborValues ( int x,
int y,
const float * border_scores
) const
inlineprotected

Returns a new score for the given pixel that is >= the original value, based on the neighbors values.

Parameters
x the x-coordinate of the input pixel
y the y-coordinate of the input pixel
border_scores the input border scores
Returns
the resulting updated border score

Definition at line 226 of file range_image_border_extractor.hpp.

References pcl::RangeImage::isInImage(), pcl::RangeImageBorderExtractor::Parameters::minimum_border_probability, parameters_, range_image_, and pcl::PointCloud< PointT >::width.

updatedScoresAccordingToNeighborValues()

float* pcl::RangeImageBorderExtractor::updatedScoresAccordingToNeighborValues ( const float * border_scores ) const
protected

For all pixels, returns a new score that is >= the original value, based on the neighbors values.

Parameters
border_scores the input border scores
Returns
a pointer to the resulting array of updated scores

updateScoresAccordingToNeighborValues()

void pcl::RangeImageBorderExtractor::updateScoresAccordingToNeighborValues ( )
protected

Replace all border score values with updates according to updatedScoreAccordingToNeighborValues.

Member Data Documentation

border_descriptions_

PointCloudOut* pcl::RangeImageBorderExtractor::border_descriptions_
protected

Definition at line 188 of file range_image_border_extractor.h.

border_directions_

Eigen::Vector3f** pcl::RangeImageBorderExtractor::border_directions_
protected

Definition at line 190 of file range_image_border_extractor.h.

Referenced by calculateBorderDirection().

border_scores_bottom_

std::vector<float> pcl::RangeImageBorderExtractor::border_scores_bottom_
protected

Definition at line 186 of file range_image_border_extractor.h.

border_scores_left_

std::vector<float> pcl::RangeImageBorderExtractor::border_scores_left_
protected

Definition at line 185 of file range_image_border_extractor.h.

border_scores_right_

std::vector<float> pcl::RangeImageBorderExtractor::border_scores_right_
protected

Definition at line 185 of file range_image_border_extractor.h.

border_scores_top_

std::vector<float> pcl::RangeImageBorderExtractor::border_scores_top_
protected

Definition at line 186 of file range_image_border_extractor.h.

parameters_

Parameters pcl::RangeImageBorderExtractor::parameters_
protected

Definition at line 182 of file range_image_border_extractor.h.

Referenced by changeScoreAccordingToShadowBorderValue(), checkIfMaximum(), checkPotentialBorder(), and updatedScoreAccordingToNeighborValues().

range_image_

const RangeImage* pcl::RangeImageBorderExtractor::range_image_
protected

Definition at line 183 of file range_image_border_extractor.h.

Referenced by calculateBorderDirection(), calculateMainPrincipalCurvature(), changeScoreAccordingToShadowBorderValue(), checkIfMaximum(), checkPotentialBorder(), get3dDirection(), getNeighborDistanceChangeScore(), and updatedScoreAccordingToNeighborValues().

range_image_size_during_extraction_

int pcl::RangeImageBorderExtractor::range_image_size_during_extraction_
protected

Definition at line 184 of file range_image_border_extractor.h.

shadow_border_informations_

ShadowBorderIndices** pcl::RangeImageBorderExtractor::shadow_border_informations_
protected

Definition at line 189 of file range_image_border_extractor.h.

surface_change_directions_

Eigen::Vector3f* pcl::RangeImageBorderExtractor::surface_change_directions_
protected

Definition at line 193 of file range_image_border_extractor.h.

surface_change_scores_

float* pcl::RangeImageBorderExtractor::surface_change_scores_
protected

Definition at line 192 of file range_image_border_extractor.h.

surface_structure_

LocalSurface** pcl::RangeImageBorderExtractor::surface_structure_
protected

Definition at line 187 of file range_image_border_extractor.h.

Referenced by calculateBorderDirection(), and calculateMainPrincipalCurvature().

The documentation for this class was generated from the following files:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_range_image_border_extractor.html

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Last Updated 2021-12-29T19:25:09Z