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


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


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.

Read more about Optional Outputs.