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Point3DGridHole


Header: AVL.h
Namespace: avl
Module: Vision3DLite

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

Syntax

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

Read more about Optional Outputs.