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Point3DGridHole

Header:	AVL.h
Namespace:	avl
Module:	Vision3DLite

Finds a biggest hole in a given section of point cloud.

Syntax

void avl::Point3DGridHole
(
	const avl::Point3DGrid& inPointGrid,
	atl::Optional<const avl::Region&> inRoi,
	avl::MEstimator::Type inPlaneOutlierSuppression,
	float inClippingFactor,
	int inIterationCount,
	atl::Optional<const avl::Plane3D&> inInitialPlane,
	atl::Conditional<avl::Region>& outHoleRegion,
	atl::Conditional<avl::Point3D>& outHoleCenter,
	avl::Plane3D& outPlane,
	atl::Optional<atl::Array<avl::Point3D>&> outInliers = atl::NIL,
	atl::Optional<atl::Array<float>&> outDistances = atl::NIL,
	atl::Optional<float&> outSignedDistanceSum = atl::NIL,
	atl::Optional<float&> outDistanceSum = atl::NIL,
	atl::Optional<atl::Array<float>&> outSquaredDistances = atl::NIL,
	atl::Optional<float&> outSquaredDistanceSum = atl::NIL
)

Parameters

Name	Type	Range	Default	Description
inPointGrid	const Point3DGrid&
inRoi	Optional<const Region&>		NIL	Range of pixels to be processed
inPlaneOutlierSuppression	MEstimator::Type
inClippingFactor	float	0.675 - 6.0	2.5f	Multitude of standard deviation within which points are considered inliers
inIterationCount	int	0 -	5	Number of iterations of outlier suppressing algorithm
inInitialPlane	Optional<const Plane3D&>		NIL	Initial approximation of a plane (if available)
outHoleRegion	Conditional<Region>&			Region of the found hole
outHoleCenter	Conditional<Point3D>&			Center of the found hole
outPlane	Plane3D&
outInliers	Optional<Array<Point3D>&>		NIL	Points matching the computed plane
outDistances	Optional<Array<float>&>		NIL	Distances of the input points to a resulting plane
outSignedDistanceSum	Optional<float&>		NIL	Sum of signed distances of the input points to a resulting plane
outDistanceSum	Optional<float&>		NIL	Sum of distances of the input points to a resulting plane
outSquaredDistances	Optional<Array<float>&>		NIL	Squared distances of the input points to a resulting plane
outSquaredDistanceSum	Optional<float&>		NIL	Sum of squared distances of the input points to a resulting plane

Optional Outputs

The computation of following outputs can be switched off by passing value atl::NIL to these parameters: outInliers, outDistances, outSignedDistanceSum, outDistanceSum, outSquaredDistances, outSquaredDistanceSum.