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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/boundary.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/point_tests.h&gt;</span> <span class="comment">// for pcl::isFinite</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;cfloat&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment"></span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a631d7e66ca6e9b62dc31235c3856c254">   51</a></span>&#160;<a class="code" href="classpcl_1_1_boundary_estimation.html#a631d7e66ca6e9b62dc31235c3856c254">pcl::BoundaryEstimation&lt;PointInT, PointNT, PointOutT&gt;::isBoundaryPoint</a> (</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keywordtype">int</span> q_idx, </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> &amp;indices, </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">const</span> Eigen::Vector4f &amp;u, <span class="keyword">const</span> Eigen::Vector4f &amp;v, </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">return</span> (isBoundaryPoint (cloud, cloud[q_idx], indices, u, v, angle_threshold));</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment"></span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a4ac3fc46382a2b2c3fb6136868486ba3">   62</a></span>&#160;<a class="code" href="classpcl_1_1_boundary_estimation.html#a631d7e66ca6e9b62dc31235c3856c254">pcl::BoundaryEstimation&lt;PointInT, PointNT, PointOutT&gt;::isBoundaryPoint</a> (</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> PointInT &amp;q_point, </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> &amp;indices, </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">const</span> Eigen::Vector4f &amp;u, <span class="keyword">const</span> Eigen::Vector4f &amp;v, </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (indices.size () &lt; 3)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">if</span> (!std::isfinite (q_point.x) || !std::isfinite (q_point.y) || !std::isfinite (q_point.z))</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">// Compute the angles between each neighboring point and the query point itself</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  std::vector&lt;float&gt; angles (indices.size ());</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">float</span> max_dif = 0, dif;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">int</span> cp = 0;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;index : indices)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">if</span> (!std::isfinite (cloud[index].x) || </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        !std::isfinite (cloud[index].y) || </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        !std::isfinite (cloud[index].z))</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    Eigen::Vector4f delta = cloud[index].getVector4fMap () - q_point.getVector4fMap ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">if</span> (delta == Eigen::Vector4f::Zero())</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    angles[cp++] = std::atan2 (v.dot (delta), u.dot (delta)); <span class="comment">// the angles are fine between -PI and PI too</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">if</span> (cp == 0)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  angles.resize (cp);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  std::sort (angles.begin (), angles.end ());</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="comment">// Compute the maximal angle difference between two consecutive angles</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; angles.size () - 1; ++i)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    dif = angles[i + 1] - angles[i];</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">if</span> (max_dif &lt; dif)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      max_dif = dif;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// Get the angle difference between the last and the first</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  dif = 2 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a>) - angles[angles.size () - 1] + angles[0];</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">if</span> (max_dif &lt; dif)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    max_dif = dif;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="comment">// Check results</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">return</span> (max_dif &gt; angle_threshold);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;}</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment"></span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908">  116</a></span>&#160;<a class="code" href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908">pcl::BoundaryEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;{</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="comment">// Allocate enough space to hold the results</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="comment">// \note This resize is irrelevant for a radiusSearch ().</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> nn_indices (k_);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  std::vector&lt;float&gt; nn_dists (k_);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  Eigen::Vector4f u = Eigen::Vector4f::Zero (), v = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  output.is_dense = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">// Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;is_dense)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">for</span> (std::size_t idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">if</span> (this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        output[idx].boundary_point = std::numeric_limits&lt;std::uint8_t&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="comment">// Obtain a coordinate system on the least-squares plane</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="comment">//v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="comment">//u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="comment">// Estimate whether the point is lying on a boundary surface or not</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">// Iterating over the entire index vector</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">for</span> (std::size_t idx = 0; idx &lt; indices_-&gt;size (); ++idx)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordflow">if</span> (!<a class="code" href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">isFinite</a> ((*input_)[(*indices_)[idx]]) ||</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          this-&gt;searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        output[idx].boundary_point = std::numeric_limits&lt;std::uint8_t&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="comment">// Obtain a coordinate system on the least-squares plane</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="comment">//v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="comment">//u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="comment">// Estimate whether the point is lying on a boundary surface or not</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;}</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_BoundaryEstimation(PointInT,PointNT,PointOutT) template class PCL_EXPORTS pcl::BoundaryEstimation&lt;PointInT, PointNT, PointOutT&gt;;</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a34c7e758d93f6ee09c33ad72cd733908"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a34c7e758d93f6ee09c33ad72cd733908">pcl::BoundaryEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output) override</div><div class="ttdoc">Estimate whether a set of points is lying on surface boundaries using an angle criterion for all poin...</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8hpp_source.html#l00116">boundary.hpp:116</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a572520445b0933a1b63ba6a00d36326d"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a572520445b0933a1b63ba6a00d36326d">pcl::BoundaryEstimation::PointCloudOut</a></div><div class="ttdeci">typename Feature&lt; PointInT, PointOutT &gt;::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8h_source.html#l00096">boundary.h:96</a></div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a631d7e66ca6e9b62dc31235c3856c254"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a631d7e66ca6e9b62dc31235c3856c254">pcl::BoundaryEstimation::isBoundaryPoint</a></div><div class="ttdeci">bool isBoundaryPoint(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, int q_idx, const pcl::Indices &amp;indices, const Eigen::Vector4f &amp;u, const Eigen::Vector4f &amp;v, const float angle_threshold)</div><div class="ttdoc">Check whether a point is a boundary point in a planar patch of projected points given by indices.</div><div class="ttdef"><b>Definition:</b> <a href="boundary_8hpp_source.html#l00051">boundary.hpp:51</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="anamespacepcl_html_a2adb775f2d234f57c4e7c1209eb95a1d"><div class="ttname"><a href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">pcl::isFinite</a></div><div class="ttdeci">bool isFinite(const PointT &amp;pt)</div><div class="ttdoc">Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...</div><div class="ttdef"><b>Definition:</b> <a href="point__tests_8h_source.html#l00055">point_tests.h:55</a></div></div>
<div class="ttc" id="anamespacepcl_html_a8bfe09b8680e7129dd0fd6177c1a2ce6"><div class="ttname"><a href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a></div><div class="ttdeci">IndicesAllocator&lt;&gt; Indices</div><div class="ttdoc">Type used for indices in PCL.</div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.html#l00133">types.h:133</a></div></div>
<div class="ttc" id="apcl__macros_8h_html_ae71449b1cc6e6250b91f539153a7a0d3"><div class="ttname"><a href="pcl__macros_8h.html#ae71449b1cc6e6250b91f539153a7a0d3">M_PI</a></div><div class="ttdeci">#define M_PI</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00203">pcl_macros.h:203</a></div></div>
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