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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <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> <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> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <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> <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> <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> <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> <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> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <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> <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> <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> <span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <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> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <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> <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> <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> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <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> <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> <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> <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> <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> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#ifndef PCL_FEATURES_IMPL_BOARD_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#define PCL_FEATURES_IMPL_BOARD_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <pcl/features/board.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <utility></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"></span> </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"></span><span class="keyword">template</span><<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> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337"> 48</a></span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::directedOrthogonalAxis</a> (</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  Eigen::Vector3f <span class="keyword">const</span> &axis,</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  Eigen::Vector3f <span class="keyword">const</span> &axis_origin,</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  Eigen::Vector3f <span class="keyword">const</span> &point,</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  Eigen::Vector3f &directed_ortho_axis)</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  Eigen::Vector3f projection;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  projectPointOnPlane (point, axis_origin, axis, projection);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  directed_ortho_axis = projection - axis_origin;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  directed_ortho_axis.normalize ();</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="comment">// check if the computed x axis is orthogonal to the normal</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">//assert(areEquals((float)(directed_ortho_axis.dot(axis)), 0.0f, 1E-3f));</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> }</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"></span> </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"></span><span class="keyword">template</span><<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> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9"> 66</a></span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::projectPointOnPlane</a> (</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  Eigen::Vector3f <span class="keyword">const</span> &point,</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  Eigen::Vector3f <span class="keyword">const</span> &origin_point,</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  Eigen::Vector3f <span class="keyword">const</span> &plane_normal,</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  Eigen::Vector3f &projected_point)</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> {</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordtype">float</span> t;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  Eigen::Vector3f xo;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  xo = point - origin_point;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  t = plane_normal.dot (xo);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  projected_point = point - (t * plane_normal);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"></span> </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"></span><span class="keyword">template</span><<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> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e"> 83</a></span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::getAngleBetweenUnitVectors</a> (</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  Eigen::Vector3f <span class="keyword">const</span> &v1,</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  Eigen::Vector3f <span class="keyword">const</span> &v2,</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  Eigen::Vector3f <span class="keyword">const</span> &axis)</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  Eigen::Vector3f angle_orientation;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  angle_orientation = v1.cross (v2);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordtype">float</span> angle_radians = std::acos (std::max (-1.0f, std::min (1.0f, v1.dot (v2))));</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  angle_radians = angle_orientation.dot (axis) < 0.f ? (2 * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) - angle_radians) : angle_radians;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">return</span> (angle_radians);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"></span> </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"></span><span class="keyword">template</span><<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> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9"> 99</a></span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::randomOrthogonalAxis</a> (</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  Eigen::Vector3f <span class="keyword">const</span> &axis,</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  Eigen::Vector3f &rand_ortho_axis)</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> {</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span> (!areEquals (axis.z (), 0.0f))</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  {</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  rand_ortho_axis.x () = (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (rand ()) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  rand_ortho_axis.y () = (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (rand ()) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  rand_ortho_axis.z () = -(axis.x () * rand_ortho_axis.x () + axis.y () * rand_ortho_axis.y ()) / axis.z ();</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!areEquals (axis.y (), 0.0f))</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  {</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  rand_ortho_axis.x () = (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (rand ()) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  rand_ortho_axis.z () = (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (rand ()) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  rand_ortho_axis.y () = -(axis.x () * rand_ortho_axis.x () + axis.z () * rand_ortho_axis.z ()) / axis.y ();</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!areEquals (axis.x (), 0.0f))</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  {</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  rand_ortho_axis.y () = (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (rand ()) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  rand_ortho_axis.z () = (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (rand ()) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  rand_ortho_axis.x () = -(axis.y () * rand_ortho_axis.y () + axis.z () * rand_ortho_axis.z ()) / axis.x ();</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  }</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  rand_ortho_axis.normalize ();</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="comment">// check if the computed x axis is orthogonal to the normal</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="comment">//assert(areEquals(rand_ortho_axis.dot(axis), 0.0f, 1E-6f));</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> }</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"></span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"></span><span class="keyword">template</span><<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> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1"> 130</a></span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::planeFitting</a> (</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  Eigen::Matrix<<span class="keywordtype">float</span>,</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  Eigen::Dynamic, 3> <span class="keyword">const</span> &points,</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  Eigen::Vector3f &center,</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  Eigen::Vector3f &norm)</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> {</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="comment">// -----------------------------------------------------</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// Plane Fitting using Singular Value Decomposition (SVD)</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="comment">// -----------------------------------------------------</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keyword">const</span> <span class="keyword">auto</span> n_points = points.rows ();</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">if</span> (n_points == 0)</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  {</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="comment">//find the center by averaging the points positions</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  center = points.colwise().mean().transpose();</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">//copy points - average (center)</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keyword">const</span> Eigen::Matrix<float, Eigen::Dynamic, 3> A = points.rowwise() - center.transpose();</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  Eigen::JacobiSVD<Eigen::MatrixXf> svd (A, Eigen::ComputeFullV);</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  norm = svd.matrixV ().col (2);</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"></span> </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"></span><span class="keyword">template</span><<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> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a8a0e9e1b827ca6d30093d386093eeea8"> 158</a></span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a8a0e9e1b827ca6d30093d386093eeea8">pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::normalDisambiguation</a> (</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointNT></a> <span class="keyword">const</span> &normal_cloud,</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> <span class="keyword">const</span> &normal_indices,</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  Eigen::Vector3f &normal)</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> {</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  Eigen::Vector3f normal_mean;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  normal_mean.setZero ();</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &normal_index : normal_indices)</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  {</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keyword">const</span> PointNT& curPt = normal_cloud[normal_index];</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  </div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  normal_mean += curPt.getNormalVector3fMap ();</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  }</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  normal_mean.normalize ();</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">if</span> (normal.dot (normal_mean) < 0)</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  {</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  normal = -normal;</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment"></span> </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"></span><span class="keyword">template</span><<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> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563"> 183</a></span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::computePointLRF</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> &index,</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  Eigen::Matrix3f &lrf)</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> {</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="comment">//find Z axis</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="comment">//extract support points for Rz radius</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> neighbours_indices;</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  std::vector<float> neighbours_distances;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  std::size_t n_neighbours = this->searchForNeighbors (index, search_parameter_, neighbours_indices, neighbours_distances);</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="comment">//check if there are enough neighbor points, otherwise compute a random X axis and use normal as Z axis</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">if</span> (n_neighbours < 6)</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  {</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="comment">//PCL_WARN(</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="comment">// "[pcl::%s::computePointLRF] Warning! Neighborhood has less than 6 vertices. Aborting description of point with index %d\n",</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="comment">// getClassName().c_str(), index);</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="comment">//setting lrf to NaN</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  lrf.setConstant (std::numeric_limits<float>::quiet_NaN ());</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">return</span> (std::numeric_limits<float>::max ());</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  }</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="comment">//copy neighbours coordinates into eigen matrix</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  Eigen::Matrix<float, Eigen::Dynamic, 3> neigh_points_mat (n_neighbours, 3);</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < n_neighbours; ++i)</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  {</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  neigh_points_mat.row (i) = (*surface_)[neighbours_indices[i]].getVector3fMap ();</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  Eigen::Vector3f x_axis, y_axis;</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="comment">//plane fitting to find direction of Z axis</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  Eigen::Vector3f fitted_normal; <span class="comment">//z_axis</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  Eigen::Vector3f centroid;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  planeFitting (neigh_points_mat, centroid, fitted_normal);</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="comment">//disambiguate Z axis with normal mean</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  normalDisambiguation (*normals_, neighbours_indices, fitted_normal);</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="comment">//setting LRF Z axis</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  lrf.row (2).matrix () = fitted_normal;</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="comment"></span> </div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="comment"> /////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="comment"></span> <span class="comment">//find X axis</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="comment">//extract support points for Rx radius</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">if</span> (tangent_radius_ != 0.0f && search_parameter_ != tangent_radius_)</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  {</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  n_neighbours = this->searchForNeighbors (index, tangent_radius_, neighbours_indices, neighbours_distances);</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  }</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="comment">//find point with the "most different" normal (with respect to fittedNormal)</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordtype">float</span> min_normal_cos = std::numeric_limits<float>::max ();</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordtype">int</span> min_normal_index = -1;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordtype">bool</span> margin_point_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  Eigen::Vector3f best_margin_point;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordtype">bool</span> best_point_found_on_margins = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> radius2 = tangent_radius_ * tangent_radius_;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> margin_distance2 = margin_thresh_ * margin_thresh_ * radius2;</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordtype">float</span> max_boundary_angle = 0;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordflow">if</span> (find_holes_)</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  {</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <a class="code" href="group__geometry.html#ga7bf1a264b0b630da6582774af36eb2cd">randomOrthogonalAxis</a> (fitted_normal, x_axis);</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  </div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  check_margin_array_.assign(check_margin_array_size_, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  margin_array_min_angle_.assign(check_margin_array_size_, std::numeric_limits<float>::max ());</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  margin_array_max_angle_.assign(check_margin_array_size_, -std::numeric_limits<float>::max ());</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  margin_array_min_angle_normal_.assign(check_margin_array_size_, -1.0);</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  margin_array_max_angle_normal_.assign(check_margin_array_size_, -1.0);</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  </div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  max_boundary_angle = (2 * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>)) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (check_margin_array_size_);</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  }</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  </div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">for</span> (std::size_t curr_neigh = 0; curr_neigh < n_neighbours; ++curr_neigh)</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  {</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keyword">const</span> <span class="keywordtype">int</span>& curr_neigh_idx = neighbours_indices[curr_neigh];</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keyword">const</span> <span class="keywordtype">float</span>& neigh_distance_sqr = neighbours_distances[curr_neigh];</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">if</span> (neigh_distance_sqr <= margin_distance2)</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  {</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  </div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="comment">//point normalIndex is inside the ring between marginThresh and Radius</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  margin_point_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  Eigen::Vector3f normal_mean = normals_->at (curr_neigh_idx).getNormalVector3fMap ();</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  </div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordtype">float</span> normal_cos = fitted_normal.dot (normal_mean);</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordflow">if</span> (normal_cos < min_normal_cos)</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  {</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  min_normal_index = curr_neigh_idx;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  min_normal_cos = normal_cos;</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  best_point_found_on_margins = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  }</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  </div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordflow">if</span> (find_holes_)</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  {</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="comment">//find angle with respect to random axis previously calculated</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  Eigen::Vector3f indicating_normal_vect;</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  directedOrthogonalAxis (fitted_normal, input_->at (index).getVector3fMap (),</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  surface_->at (curr_neigh_idx).getVector3fMap (), indicating_normal_vect);</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keywordtype">float</span> angle = getAngleBetweenUnitVectors (x_axis, indicating_normal_vect, fitted_normal);</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  </div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordtype">int</span> check_margin_array_idx = std::min (<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (std::floor (angle / max_boundary_angle)), check_margin_array_size_ - 1);</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  check_margin_array_[check_margin_array_idx] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  </div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">if</span> (angle < margin_array_min_angle_[check_margin_array_idx])</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  {</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  margin_array_min_angle_[check_margin_array_idx] = angle;</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  margin_array_min_angle_normal_[check_margin_array_idx] = normal_cos;</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  }</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keywordflow">if</span> (angle > margin_array_max_angle_[check_margin_array_idx])</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  {</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  margin_array_max_angle_[check_margin_array_idx] = angle;</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  margin_array_max_angle_normal_[check_margin_array_idx] = normal_cos;</div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  }</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  }</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  </div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  } <span class="comment">//for each neighbor</span></div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  </div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordflow">if</span> (!margin_point_found)</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  {</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="comment">//find among points with neighDistance <= marginThresh*radius</span></div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">for</span> (std::size_t curr_neigh = 0; curr_neigh < n_neighbours; curr_neigh++)</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  {</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keyword">const</span> <span class="keywordtype">int</span>& curr_neigh_idx = neighbours_indices[curr_neigh];</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keyword">const</span> <span class="keywordtype">float</span>& neigh_distance_sqr = neighbours_distances[curr_neigh];</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  </div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordflow">if</span> (neigh_distance_sqr > margin_distance2)</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  </div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  Eigen::Vector3f normal_mean = normals_->at (curr_neigh_idx).getNormalVector3fMap ();</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  </div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keywordtype">float</span> normal_cos = fitted_normal.dot (normal_mean);</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  </div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="keywordflow">if</span> (normal_cos < min_normal_cos)</div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  {</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  min_normal_index = curr_neigh_idx;</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  min_normal_cos = normal_cos;</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  }</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  }<span class="comment">//for each neighbor</span></div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="comment">// Check if we are not in a degenerate case (all the neighboring normals are NaNs)</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  {</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  lrf.setConstant (std::numeric_limits<float>::quiet_NaN ());</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordflow">return</span> (std::numeric_limits<float>::max ());</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  }</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="comment">//find orthogonal axis directed to minNormalIndex point projection on plane with fittedNormal as axis</span></div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  directedOrthogonalAxis (fitted_normal, input_->at (index).getVector3fMap (),</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  surface_->at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  </div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  </div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  </div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  }</div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  </div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">if</span> (!find_holes_)</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  {</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  {</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <span class="comment">//if most inclined normal is on support margin</span></div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  directedOrthogonalAxis (fitted_normal, input_->at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  </div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  </div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  }</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  </div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="comment">// Check if we are not in a degenerate case (all the neighboring normals are NaNs)</span></div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  {</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  lrf.setConstant (std::numeric_limits<float>::quiet_NaN ());</div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordflow">return</span> (std::numeric_limits<float>::max ());</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  }</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  </div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  directedOrthogonalAxis (fitted_normal, input_->at (index).getVector3fMap (),</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  surface_->at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  </div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  </div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  }<span class="comment">// if(!find_holes_)</span></div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  </div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="comment">//check if there is at least a hole</span></div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordtype">bool</span> is_hole_present = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> check_margin: check_margin_array_)</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  {</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordflow">if</span> (!check_margin)</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  {</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  is_hole_present = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  }</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  }</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  </div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordflow">if</span> (!is_hole_present)</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  {</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  {</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="comment">//if most inclined normal is on support margin</span></div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  directedOrthogonalAxis (fitted_normal, input_->at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  </div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  </div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  }</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  </div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="comment">// Check if we are not in a degenerate case (all the neighboring normals are NaNs)</span></div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  {</div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  lrf.setConstant (std::numeric_limits<float>::quiet_NaN ());</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <span class="keywordflow">return</span> (std::numeric_limits<float>::max ());</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  }</div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  </div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <span class="comment">//find orthogonal axis directed to minNormalIndex point projection on plane with fittedNormal as axis</span></div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  directedOrthogonalAxis (fitted_normal, input_->at (index).getVector3fMap (),</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  surface_->at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  </div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  }<span class="comment">//if (!is_hole_present)</span></div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  </div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  <span class="comment">//case hole found</span></div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <span class="comment">//find missing region</span></div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keywordtype">float</span> angle = 0.0;</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  <span class="keywordtype">int</span> hole_end;</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordtype">int</span> hole_first;</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  </div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="keyword">const</span> <span class="keyword">auto</span> find_first_no_border_pie = [](<span class="keyword">const</span> <span class="keyword">auto</span>& array) -> std::size_t {</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="keywordflow">if</span> (array.back())</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  {</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  }</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keyword">const</span> <span class="keyword">auto</span> result = std::find_if(array.cbegin (), array.cend (),</div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  [](<span class="keyword">const</span> <span class="keyword">auto</span>& x) -> <span class="keywordtype">bool</span> { return x;});</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">return</span> <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">std::distance</a>(array.cbegin (), result);</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  };</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="keyword">const</span> <span class="keyword">auto</span> first_no_border = find_first_no_border_pie(check_margin_array_);</div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  </div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="comment">//float steep_prob = 0.0;</span></div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordtype">float</span> max_hole_prob = -std::numeric_limits<float>::max ();</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  </div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="comment">//find holes</span></div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> ch = first_no_border; ch < static_cast<std::size_t>(check_margin_array_size_); ch++)</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  {</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  <span class="keywordflow">if</span> (!check_margin_array_[ch])</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  {</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <span class="comment">//border beginning found</span></div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  hole_first = ch;</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  hole_end = hole_first + 1;</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  <span class="keywordflow">while</span> (!check_margin_array_[hole_end % check_margin_array_size_])</div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  {</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  ++hole_end;</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  }</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <span class="comment">//border end found, find angle</span></div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  </div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  <span class="keywordflow">if</span> ((hole_end - hole_first) > 0)</div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  {</div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="comment">//check if hole can be a shapeness hole</span></div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="keywordtype">int</span> previous_hole = (((hole_first - 1) < 0) ? (hole_first - 1) + check_margin_array_size_ : (hole_first - 1))</div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  % check_margin_array_size_;</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="keywordtype">int</span> following_hole = (hole_end) % check_margin_array_size_;</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="keywordtype">float</span> normal_begin = margin_array_max_angle_normal_[previous_hole];</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordtype">float</span> normal_end = margin_array_min_angle_normal_[following_hole];</div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  normal_begin -= min_normal_cos;</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  normal_end -= min_normal_cos;</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  normal_begin = normal_begin / (1.0f - min_normal_cos);</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  normal_end = normal_end / (1.0f - min_normal_cos);</div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  normal_begin = 1.0f - normal_begin;</div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  normal_end = 1.0f - normal_end;</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  </div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="comment">//evaluate P(Hole);</span></div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <span class="keywordtype">float</span> hole_width = 0.0f;</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="keywordflow">if</span> (following_hole < previous_hole)</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  {</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  hole_width = margin_array_min_angle_[following_hole] + 2 * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>)</div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  - margin_array_max_angle_[previous_hole];</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  }</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  {</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  hole_width = margin_array_min_angle_[following_hole] - margin_array_max_angle_[previous_hole];</div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  }</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  <span class="keywordtype">float</span> hole_prob = hole_width / (2 * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>));</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  </div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <span class="comment">//evaluate P(zmin|Hole)</span></div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordtype">float</span> steep_prob = (normal_end + normal_begin) / 2.0f;</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  </div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="comment">//check hole prob and after that, check steepThresh</span></div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  </div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="keywordflow">if</span> (hole_prob > hole_size_prob_thresh_)</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  {</div>
<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <span class="keywordflow">if</span> (steep_prob > steep_thresh_)</div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  {</div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  <span class="keywordflow">if</span> (hole_prob > max_hole_prob)</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  {</div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  max_hole_prob = hole_prob;</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  </div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <span class="keywordtype">float</span> angle_weight = ((normal_end - normal_begin) + 1.0f) / 2.0f;</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="keywordflow">if</span> (following_hole < previous_hole)</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  {</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  angle = margin_array_max_angle_[previous_hole] + (margin_array_min_angle_[following_hole] + 2</div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) - margin_array_max_angle_[previous_hole]) * angle_weight;</div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  }</div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  {</div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  angle = margin_array_max_angle_[previous_hole] + (margin_array_min_angle_[following_hole]</div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  - margin_array_max_angle_[previous_hole]) * angle_weight;</div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  }</div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  }</div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  }</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  }</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  } <span class="comment">//(hole_end-hole_first) > 0</span></div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  </div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <span class="keywordflow">if</span> (hole_end >= check_margin_array_size_)</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  {</div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  }</div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  ch = hole_end - 1;</div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  }</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  }</div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  </div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <span class="keywordflow">if</span> (max_hole_prob > -std::numeric_limits<float>::max ())</div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  {</div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  <span class="comment">//hole found</span></div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  Eigen::AngleAxisf rotation = Eigen::AngleAxisf (angle, fitted_normal);</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  x_axis = rotation * x_axis;</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  </div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  min_normal_cos -= 10.0f;</div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  }</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  {</div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  {</div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  <span class="comment">//if most inclined normal is on support margin</span></div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  directedOrthogonalAxis (fitted_normal, input_->at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  }</div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  {</div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  <span class="comment">// Check if we are not in a degenerate case (all the neighboring normals are NaNs)</span></div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  {</div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  lrf.setConstant (std::numeric_limits<float>::quiet_NaN ());</div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  <span class="keywordflow">return</span> (std::numeric_limits<float>::max ());</div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  }</div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  </div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  <span class="comment">//find orthogonal axis directed to minNormalIndex point projection on plane with fittedNormal as axis</span></div>
<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  directedOrthogonalAxis (fitted_normal, input_->at (index).getVector3fMap (),</div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  surface_->at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  }</div>
<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  }</div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  </div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  </div>
<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  </div>
<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00565"></a><span class="lineno"> 565</span> }</div>
<div class="line"><a name="l00566"></a><span class="lineno"> 566</span> <span class="comment"></span> </div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span> <span class="comment"></span><span class="keyword">template</span><<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> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00569"></a><span class="lineno"><a class="line" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad7e434bc0239e122096cb46d1a05ad00"> 569</a></span> <a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad7e434bc0239e122096cb46d1a05ad00">pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::computeFeature</a> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a664c77767f2a3ba43aeddc566020aaf5">PointCloudOut</a> &output)</div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span> {</div>
<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  <span class="comment">//check whether used with search radius or search k-neighbors</span></div>
<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  <span class="keywordflow">if</span> (this->getKSearch () != 0)</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  {</div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  PCL_ERROR(</div>
<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  <span class="stringliteral">"[pcl::%s::computeFeature] Error! Search method set to k-neighborhood. Call setKSearch(0) and setRadiusSearch( radius ) to use this class.\n"</span>,</div>
<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  getClassName().c_str());</div>
<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  }</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  </div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  this->resetData ();</div>
<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  <span class="keywordflow">for</span> (std::size_t point_idx = 0; point_idx < indices_->size (); ++point_idx)</div>
<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  {</div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  Eigen::Matrix3f currentLrf;</div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  PointOutT &rf = output[point_idx];</div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  </div>
<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  <span class="comment">//rf.confidence = computePointLRF (*indices_[point_idx], currentLrf);</span></div>
<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  <span class="comment">//if (rf.confidence == std::numeric_limits<float>::max ())</span></div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  <span class="keywordflow">if</span> (computePointLRF ((*indices_)[point_idx], currentLrf) == std::numeric_limits<float>::max ())</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  {</div>
<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  }</div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  </div>
<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d < 3; ++d)</div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  {</div>
<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  rf.x_axis[d] = currentLrf (0, d);</div>
<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  rf.y_axis[d] = currentLrf (1, d);</div>
<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  rf.z_axis[d] = currentLrf (2, d);</div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  }</div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  }</div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span> }</div>
<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  </div>
<div class="line"><a name="l00602"></a><span class="lineno"> 602</span> <span class="preprocessor">#define PCL_INSTANTIATE_BOARDLocalReferenceFrameEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::BOARDLocalReferenceFrameEstimation<T,NT,OutT>;</span></div>
<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  </div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span> <span class="preprocessor">#endif </span><span class="comment">// PCL_FEATURES_IMPL_BOARD_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a26951f67a6cc8abb851ba700125084a9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">pcl::BOARDLocalReferenceFrameEstimation::projectPointOnPlane</a></div><div class="ttdeci">void projectPointOnPlane(Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point, Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point)</div><div class="ttdoc">Given a plane (origin and normal) and a point, return the projection of x on plane.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00066">board.hpp:66</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a372933f17aa96381feed1149b935d337"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">pcl::BOARDLocalReferenceFrameEstimation::directedOrthogonalAxis</a></div><div class="ttdeci">void directedOrthogonalAxis(Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin, Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis)</div><div class="ttdoc">Given an axis (with origin axis_origin), return the orthogonal axis directed to point.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00048">board.hpp:48</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a443d413a50bc03235dfca64d6a0d4563"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">pcl::BOARDLocalReferenceFrameEstimation::computePointLRF</a></div><div class="ttdeci">float computePointLRF(const int &index, Eigen::Matrix3f &lrf)</div><div class="ttdoc">Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with nor...</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00183">board.hpp:183</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a539340a12ac997e4a6bc4c20764d1ed1"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">pcl::BOARDLocalReferenceFrameEstimation::planeFitting</a></div><div class="ttdeci">void planeFitting(Eigen::Matrix< float, Eigen::Dynamic, 3 > const &points, Eigen::Vector3f &center, Eigen::Vector3f &norm)</div><div class="ttdoc">Compute Least Square Plane Fitting in a set of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00130">board.hpp:130</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a664c77767f2a3ba43aeddc566020aaf5"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a664c77767f2a3ba43aeddc566020aaf5">pcl::BOARDLocalReferenceFrameEstimation::PointCloudOut</a></div><div class="ttdeci">typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="board_8h_source.html#l00228">board.h:228</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a78e4538355e85c97aac9550bf05b0c4e"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">pcl::BOARDLocalReferenceFrameEstimation::getAngleBetweenUnitVectors</a></div><div class="ttdeci">float getAngleBetweenUnitVectors(Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis)</div><div class="ttdoc">return the angle (in radians) that rotate v1 to v2 with respect to axis .</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00083">board.hpp:83</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_a8a0e9e1b827ca6d30093d386093eeea8"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a8a0e9e1b827ca6d30093d386093eeea8">pcl::BOARDLocalReferenceFrameEstimation::normalDisambiguation</a></div><div class="ttdeci">void normalDisambiguation(pcl::PointCloud< PointNT > const &normals_cloud, pcl::Indices const &normal_indices, Eigen::Vector3f &normal)</div><div class="ttdoc">Disambiguates a normal direction using adjacent normals.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00158">board.hpp:158</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_ad7e434bc0239e122096cb46d1a05ad00"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad7e434bc0239e122096cb46d1a05ad00">pcl::BOARDLocalReferenceFrameEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &output) override</div><div class="ttdoc">Abstract feature estimation method.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00569">board.hpp:569</a></div></div>
<div class="ttc" id="aclasspcl_1_1_b_o_a_r_d_local_reference_frame_estimation_html_aecb6595caf21c9109e84f7c5964e04d9"><div class="ttname"><a href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">pcl::BOARDLocalReferenceFrameEstimation::randomOrthogonalAxis</a></div><div class="ttdeci">void randomOrthogonalAxis(Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis)</div><div class="ttdoc">Given an axis, return a random orthogonal axis.</div><div class="ttdef"><b>Definition:</b> <a href="board_8hpp_source.html#l00099">board.hpp:99</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< PointNT ></a></div></div>
<div class="ttc" id="agroup__geometry_html_ga7bf1a264b0b630da6582774af36eb2cd"><div class="ttname"><a href="group__geometry.html#ga7bf1a264b0b630da6582774af36eb2cd">pcl::geometry::randomOrthogonalAxis</a></div><div class="ttdeci">Eigen::Vector3f randomOrthogonalAxis(Eigen::Vector3f const &axis)</div><div class="ttdoc">Define a random unit vector orthogonal to axis.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2geometry_8h_source.html#l00134">geometry.h:134</a></div></div>
<div class="ttc" id="anamespacepcl_1_1geometry_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &p1, const PointT &p2)</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2geometry_8h_source.html#l00060">geometry.h:60</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<> 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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