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<li class="navelem"><a class="el" href="dir_c94e79c2c5a14cf51fca344e688faa8f.html">pcl</a></li><li class="navelem"><a class="el" href="dir_1fa9e61e4e86bede49a260cd2971bd05.html">features</a></li><li class="navelem"><a class="el" href="dir_1bdd8dc6a4f40b9d01b6b9595d75a350.html">impl</a></li>  </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_BOARD_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_BOARD_H_</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/board.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment"></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="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>&#160;<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a372933f17aa96381feed1149b935d337">pcl::BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt;::directedOrthogonalAxis</a> (</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                                                                                               Eigen::Vector3f <span class="keyword">const</span> &amp;axis,</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                                                                                               Eigen::Vector3f <span class="keyword">const</span> &amp;axis_origin,</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                                                                                               Eigen::Vector3f <span class="keyword">const</span> &amp;point,</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                                                                                               Eigen::Vector3f &amp;directed_ortho_axis)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  Eigen::Vector3f projection;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  projectPointOnPlane (point, axis_origin, axis, projection);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  directed_ortho_axis = projection - axis_origin;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  directed_ortho_axis.normalize ();</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <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>&#160;  <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>&#160;}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</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="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>&#160;<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a26951f67a6cc8abb851ba700125084a9">pcl::BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt;::projectPointOnPlane</a> (</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                                                                                            Eigen::Vector3f <span class="keyword">const</span> &amp;point,</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                                                                                            Eigen::Vector3f <span class="keyword">const</span> &amp;origin_point,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                                                                                            Eigen::Vector3f <span class="keyword">const</span> &amp;plane_normal,</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                                                                                            Eigen::Vector3f &amp;projected_point)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">float</span> t;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  Eigen::Vector3f xo;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  xo = point - origin_point;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  t = plane_normal.dot (xo);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  projected_point = point - (t * plane_normal);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</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">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>&#160;<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a78e4538355e85c97aac9550bf05b0c4e">pcl::BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt;::getAngleBetweenUnitVectors</a> (</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                                                                                                   Eigen::Vector3f <span class="keyword">const</span> &amp;v1,</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                                                                                                   Eigen::Vector3f <span class="keyword">const</span> &amp;v2,</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                                                                                                   Eigen::Vector3f <span class="keyword">const</span> &amp;axis)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  Eigen::Vector3f angle_orientation;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  angle_orientation = v1.cross (v2);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <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>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  angle_radians = angle_orientation.dot (axis) &lt; 0.f ? (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>) - angle_radians) : angle_radians;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">return</span> (angle_radians);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</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="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>&#160;<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#aecb6595caf21c9109e84f7c5964e04d9">pcl::BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt;::randomOrthogonalAxis</a> (</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                                                                                             Eigen::Vector3f <span class="keyword">const</span> &amp;axis,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                                                                                             Eigen::Vector3f &amp;rand_ortho_axis)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;{</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordflow">if</span> (!areEquals (axis.z (), 0.0f))</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;    rand_ortho_axis.x () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    rand_ortho_axis.y () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    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>&#160;  }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <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>&#160;  {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    rand_ortho_axis.x () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    rand_ortho_axis.z () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    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>&#160;  }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <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>&#160;  {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    rand_ortho_axis.y () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    rand_ortho_axis.z () = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (rand ()) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (RAND_MAX)) * 2.0f - 1.0f;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    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>&#160;  }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  rand_ortho_axis.normalize ();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <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>&#160;  <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>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</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="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>&#160;<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a539340a12ac997e4a6bc4c20764d1ed1">pcl::BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt;::planeFitting</a> (</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                                                                                     Eigen::Matrix&lt;<span class="keywordtype">float</span>,</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                                                                                         Eigen::Dynamic, 3&gt; <span class="keyword">const</span> &amp;points,</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                                                                                     Eigen::Vector3f &amp;center,</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                                                                                     Eigen::Vector3f &amp;norm)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;{</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="comment">// -----------------------------------------------------</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// Plane Fitting using Singular Value Decomposition (SVD)</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">// -----------------------------------------------------</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <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>&#160;  <span class="keywordflow">if</span> (n_points == 0)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <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>&#160;  center = points.colwise().mean().transpose();</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="comment">//copy points - average (center)</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keyword">const</span> Eigen::Matrix&lt;float, Eigen::Dynamic, 3&gt; A = points.rowwise() - center.transpose();</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  Eigen::JacobiSVD&lt;Eigen::MatrixXf&gt; svd (A, Eigen::ComputeFullV);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  norm = svd.matrixV ().col (2);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</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="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>&#160;<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a8a0e9e1b827ca6d30093d386093eeea8">pcl::BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt;::normalDisambiguation</a> (</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                                                                                             <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <span class="keyword">const</span> &amp;normal_cloud,</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                                                                                             <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> <span class="keyword">const</span> &amp;normal_indices,</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                                                                                             Eigen::Vector3f &amp;normal)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;{</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  Eigen::Vector3f normal_mean;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  normal_mean.setZero ();</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="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;normal_index : normal_indices)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keyword">const</span> PointNT&amp; curPt = normal_cloud[normal_index];</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;    normal_mean += curPt.getNormalVector3fMap ();</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; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  normal_mean.normalize ();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">if</span> (normal.dot (normal_mean) &lt; 0)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    normal = -normal;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</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">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>&#160;<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a443d413a50bc03235dfca64d6a0d4563">pcl::BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt;::computePointLRF</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> &amp;index,</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                                                                                        Eigen::Matrix3f &amp;lrf)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;{</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="comment">//find Z axis</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="comment">//extract support points for Rz radius</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <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>&#160;  std::vector&lt;float&gt; neighbours_distances;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  std::size_t n_neighbours = this-&gt;searchForNeighbors (index, search_parameter_, neighbours_indices, neighbours_distances);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <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>&#160;  <span class="keywordflow">if</span> (n_neighbours &lt; 6)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="comment">//PCL_WARN(</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="comment">//    &quot;[pcl::%s::computePointLRF] Warning! Neighborhood has less than 6 vertices. Aborting description of point with index %d\n&quot;,</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="comment">//    getClassName().c_str(), index);</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="comment">//setting lrf to NaN</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="comment">//copy neighbours coordinates into eigen matrix</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  Eigen::Matrix&lt;float, Eigen::Dynamic, 3&gt; neigh_points_mat (n_neighbours, 3);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; n_neighbours; ++i)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    neigh_points_mat.row (i) = (*surface_)[neighbours_indices[i]].getVector3fMap ();</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  Eigen::Vector3f x_axis, y_axis;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <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>&#160;  Eigen::Vector3f fitted_normal; <span class="comment">//z_axis</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  Eigen::Vector3f centroid;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  planeFitting (neigh_points_mat, centroid, fitted_normal);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="comment">//disambiguate Z axis with normal mean</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  normalDisambiguation (*normals_, neighbours_indices, fitted_normal);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="comment">//setting LRF Z axis</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  lrf.row (2).matrix () = fitted_normal;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="comment">  /////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="comment"></span>  <span class="comment">//find X axis</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="comment">//extract support points for Rx radius</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keywordflow">if</span> (tangent_radius_ != 0.0f &amp;&amp; search_parameter_ != tangent_radius_)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    n_neighbours = this-&gt;searchForNeighbors (index, tangent_radius_, neighbours_indices, neighbours_distances);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="comment">//find point with the &quot;most different&quot; normal (with respect to fittedNormal)</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordtype">float</span> min_normal_cos = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordtype">int</span> min_normal_index = -1;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <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>&#160;  Eigen::Vector3f best_margin_point;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <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>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <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>&#160;  <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>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordtype">float</span> max_boundary_angle = 0;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keywordflow">if</span> (find_holes_)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <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>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    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>&#160;    margin_array_min_angle_.assign(check_margin_array_size_, std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    margin_array_max_angle_.assign(check_margin_array_size_, -std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    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>&#160;    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>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    max_boundary_angle = (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>)) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (check_margin_array_size_);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keywordflow">for</span> (std::size_t curr_neigh = 0; curr_neigh &lt; n_neighbours; ++curr_neigh)</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  {</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; curr_neigh_idx = neighbours_indices[curr_neigh];</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; neigh_distance_sqr = neighbours_distances[curr_neigh];</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordflow">if</span> (neigh_distance_sqr &lt;= margin_distance2)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <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>&#160;    margin_point_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    Eigen::Vector3f normal_mean = normals_-&gt;at (curr_neigh_idx).getNormalVector3fMap ();</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <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>&#160;    <span class="keywordflow">if</span> (normal_cos &lt; min_normal_cos)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      min_normal_index = curr_neigh_idx;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      min_normal_cos = normal_cos;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      best_point_found_on_margins = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    }</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">if</span> (find_holes_)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <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>&#160;      Eigen::Vector3f indicating_normal_vect;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      directedOrthogonalAxis (fitted_normal, input_-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                              surface_-&gt;at (curr_neigh_idx).getVector3fMap (), indicating_normal_vect);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      <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>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keywordtype">int</span> check_margin_array_idx = std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</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>&#160;      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>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <span class="keywordflow">if</span> (angle &lt; margin_array_min_angle_[check_margin_array_idx])</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      {</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        margin_array_min_angle_[check_margin_array_idx] = angle;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        margin_array_min_angle_normal_[check_margin_array_idx] = normal_cos;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      }</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keywordflow">if</span> (angle &gt; margin_array_max_angle_[check_margin_array_idx])</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        margin_array_max_angle_[check_margin_array_idx] = angle;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        margin_array_max_angle_normal_[check_margin_array_idx] = normal_cos;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  } <span class="comment">//for each neighbor</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="keywordflow">if</span> (!margin_point_found)</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="comment">//find among points with neighDistance &lt;= marginThresh*radius</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">for</span> (std::size_t curr_neigh = 0; curr_neigh &lt; n_neighbours; curr_neigh++)</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    {</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; curr_neigh_idx = neighbours_indices[curr_neigh];</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; neigh_distance_sqr = neighbours_distances[curr_neigh];</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keywordflow">if</span> (neigh_distance_sqr &gt; margin_distance2)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      Eigen::Vector3f normal_mean = normals_-&gt;at (curr_neigh_idx).getNormalVector3fMap ();</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <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>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keywordflow">if</span> (normal_cos &lt; min_normal_cos)</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      {</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        min_normal_index = curr_neigh_idx;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        min_normal_cos = normal_cos;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    }<span class="comment">//for each neighbor</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <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>&#160;    <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <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>&#160;    directedOrthogonalAxis (fitted_normal, input_-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;                            surface_-&gt;at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <span class="keywordflow">if</span> (!find_holes_)</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  {</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    {</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <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>&#160;      directedOrthogonalAxis (fitted_normal, input_-&gt;at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    }</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <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>&#160;    <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    {</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    }</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    directedOrthogonalAxis (fitted_normal, input_-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;                            surface_-&gt;at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  }<span class="comment">// if(!find_holes_)</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <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>&#160;  <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>&#160;  <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>&#160;  {</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    <span class="keywordflow">if</span> (!check_margin)</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    {</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      is_hole_present = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    }</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  }</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="keywordflow">if</span> (!is_hole_present)</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  {</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    {</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <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>&#160;      directedOrthogonalAxis (fitted_normal, input_-&gt;at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    }</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <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>&#160;    <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    {</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    }</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <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>&#160;    directedOrthogonalAxis (fitted_normal, input_-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;                            surface_-&gt;at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  }<span class="comment">//if (!is_hole_present)</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <span class="comment">//case hole found</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  <span class="comment">//find missing region</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  <span class="keywordtype">float</span> angle = 0.0;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  <span class="keywordtype">int</span> hole_end;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <span class="keywordtype">int</span> hole_first;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  <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>&amp; array) -&gt; std::size_t {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="keywordflow">if</span> (array.back())</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;        <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    }</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    <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>&#160;                                     [](<span class="keyword">const</span> <span class="keyword">auto</span>&amp; x) -&gt; <span class="keywordtype">bool</span> { return x;});</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <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>&#160;  };</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  <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>&#160; </div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="comment">//float steep_prob = 0.0;</span></div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="keywordtype">float</span> max_hole_prob = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="comment">//find holes</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> ch = first_no_border; ch &lt; static_cast&lt;std::size_t&gt;(check_margin_array_size_); ch++)</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    <span class="keywordflow">if</span> (!check_margin_array_[ch])</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    {</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      <span class="comment">//border beginning found</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      hole_first = ch;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      hole_end = hole_first + 1;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      <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>&#160;      {</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        ++hole_end;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      }</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      <span class="comment">//border end found, find angle</span></div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      <span class="keywordflow">if</span> ((hole_end - hole_first) &gt; 0)</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      {</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <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>&#160;        <span class="keywordtype">int</span> previous_hole = (((hole_first - 1) &lt; 0) ? (hole_first - 1) + check_margin_array_size_ : (hole_first - 1))</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;            % check_margin_array_size_;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        <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>&#160;        <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>&#160;        <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>&#160;        normal_begin -= min_normal_cos;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        normal_end -= min_normal_cos;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        normal_begin = normal_begin / (1.0f - min_normal_cos);</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        normal_end = normal_end / (1.0f - min_normal_cos);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        normal_begin = 1.0f - normal_begin;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        normal_end = 1.0f - normal_end;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        <span class="comment">//evaluate P(Hole);</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        <span class="keywordtype">float</span> hole_width = 0.0f;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;        <span class="keywordflow">if</span> (following_hole &lt; previous_hole)</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        {</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;          hole_width = margin_array_min_angle_[following_hole] + 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>)</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;              - margin_array_max_angle_[previous_hole];</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        }</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        {</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;          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>&#160;        }</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        <span class="keywordtype">float</span> hole_prob = hole_width / (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>));</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="comment">//evaluate P(zmin|Hole)</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        <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>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        <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>&#160; </div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        <span class="keywordflow">if</span> (hole_prob &gt; hole_size_prob_thresh_)</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;        {</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;          <span class="keywordflow">if</span> (steep_prob &gt; steep_thresh_)</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;          {</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;            <span class="keywordflow">if</span> (hole_prob &gt; max_hole_prob)</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;            {</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;              max_hole_prob = hole_prob;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;              <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>&#160;              <span class="keywordflow">if</span> (following_hole &lt; previous_hole)</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;              {</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;                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>&#160;                    * <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>) - margin_array_max_angle_[previous_hole]) * angle_weight;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;              }</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;              {</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;                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>&#160;                    - margin_array_max_angle_[previous_hole]) * angle_weight;</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;              }</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;            }</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;          }</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;        }</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      } <span class="comment">//(hole_end-hole_first) &gt; 0</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;      <span class="keywordflow">if</span> (hole_end &gt;= check_margin_array_size_)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      {</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      }</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      ch = hole_end - 1;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    }</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  <span class="keywordflow">if</span> (max_hole_prob &gt; -std::numeric_limits&lt;float&gt;::max ())</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  {</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    <span class="comment">//hole found</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    Eigen::AngleAxisf rotation = Eigen::AngleAxisf (angle, fitted_normal);</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    x_axis = rotation * x_axis;</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    min_normal_cos -= 10.0f;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;  }</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  {</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    <span class="keywordflow">if</span> (best_point_found_on_margins)</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;    {</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      <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>&#160;      directedOrthogonalAxis (fitted_normal, input_-&gt;at (index).getVector3fMap (), best_margin_point, x_axis);</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    }</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;    {</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <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>&#160;      <span class="keywordflow">if</span> (min_normal_index == -1)</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      {</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;        lrf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;        <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      }</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      <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>&#160;      directedOrthogonalAxis (fitted_normal, input_-&gt;at (index).getVector3fMap (),</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;                              surface_-&gt;at (min_normal_index).getVector3fMap (), x_axis);</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    }</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  }</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  y_axis = fitted_normal.cross (x_axis);</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160; </div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  lrf.row (0).matrix () = x_axis;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  lrf.row (1).matrix () = y_axis;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <span class="comment">//z axis already set</span></div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160; </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="keywordflow">return</span> (min_normal_cos);</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;}</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</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="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>&#160;<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#ad7e434bc0239e122096cb46d1a05ad00">pcl::BOARDLocalReferenceFrameEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html#a664c77767f2a3ba43aeddc566020aaf5">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;{</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  <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>&#160;  <span class="keywordflow">if</span> (this-&gt;getKSearch () != 0)</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;  {</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    PCL_ERROR(</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;        <span class="stringliteral">&quot;[pcl::%s::computeFeature] Error! Search method set to k-neighborhood. Call setKSearch(0) and setRadiusSearch( radius ) to use this class.\n&quot;</span>,</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;        getClassName().c_str());</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  }</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160; </div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  this-&gt;resetData ();</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  <span class="keywordflow">for</span> (std::size_t point_idx = 0; point_idx &lt; indices_-&gt;size (); ++point_idx)</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  {</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;    Eigen::Matrix3f currentLrf;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    PointOutT &amp;rf = output[point_idx];</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    <span class="comment">//rf.confidence = computePointLRF (*indices_[point_idx], currentLrf);</span></div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;    <span class="comment">//if (rf.confidence == std::numeric_limits&lt;float&gt;::max ())</span></div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <span class="keywordflow">if</span> (computePointLRF ((*indices_)[point_idx], currentLrf) == std::numeric_limits&lt;float&gt;::max ())</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    {</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    }</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; 3; ++d)</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;    {</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;      rf.x_axis[d] = currentLrf (0, d);</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;      rf.y_axis[d] = currentLrf (1, d);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      rf.z_axis[d] = currentLrf (2, d);</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    }</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  }</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;}</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160; </div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_BOARDLocalReferenceFrameEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::BOARDLocalReferenceFrameEstimation&lt;T,NT,OutT&gt;;</span></div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160; </div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;<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 &amp;point, Eigen::Vector3f const &amp;origin_point, Eigen::Vector3f const &amp;plane_normal, Eigen::Vector3f &amp;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 &amp;axis, Eigen::Vector3f const &amp;axis_origin, Eigen::Vector3f const &amp;point, Eigen::Vector3f &amp;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 &amp;index, Eigen::Matrix3f &amp;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&lt; float, Eigen::Dynamic, 3 &gt; const &amp;points, Eigen::Vector3f &amp;center, Eigen::Vector3f &amp;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&lt; PointInT, PointOutT &gt;::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 &amp;v1, Eigen::Vector3f const &amp;v2, Eigen::Vector3f const &amp;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&lt; PointNT &gt; const &amp;normals_cloud, pcl::Indices const &amp;normal_indices, Eigen::Vector3f &amp;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 &amp;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 &amp;axis, Eigen::Vector3f &amp;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&lt; PointNT &gt;</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 &amp;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 &amp;p1, const PointT &amp;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&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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