Point Cloud Library (PCL)
1.3.1
|
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard. More...
#include <pcl/features/normal_3d_omp.h>
Public Types | |
typedef NormalEstimation < PointInT, PointOutT > ::PointCloudOut | PointCloudOut |
Public Member Functions | |
NormalEstimationOMP () | |
Empty constructor. | |
NormalEstimationOMP (unsigned int nr_threads) | |
Initialize the scheduler and set the number of threads to use. | |
void | setNumberOfThreads (unsigned int nr_threads) |
Initialize the scheduler and set the number of threads to use. | |
void | computePointNormal (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, Eigen::Vector4f &plane_parameters, float &curvature) |
Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature. | |
void | computePointNormal (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &nx, float &ny, float &nz, float &curvature) |
Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature. | |
void | setViewPoint (float vpx, float vpy, float vpz) |
Set the viewpoint. | |
void | getViewPoint (float &vpx, float &vpy, float &vpz) |
Get the viewpoint. |
NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard.
typedef NormalEstimation<PointInT, PointOutT>::PointCloudOut pcl::NormalEstimationOMP::PointCloudOut |
Reimplemented from pcl::NormalEstimation< PointInT, PointOutT >.
Definition at line 63 of file normal_3d_omp.h.
pcl::NormalEstimationOMP::NormalEstimationOMP | ( | ) | [inline] |
Empty constructor.
Definition at line 67 of file normal_3d_omp.h.
pcl::NormalEstimationOMP::NormalEstimationOMP | ( | unsigned int | nr_threads | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (-1 sets the value back to automatic) |
Definition at line 75 of file normal_3d_omp.h.
void pcl::NormalEstimation::computePointNormal | ( | const pcl::PointCloud< PointInT > & | cloud, |
const std::vector< int > & | indices, | ||
Eigen::Vector4f & | plane_parameters, | ||
float & | curvature | ||
) | [inline, inherited] |
Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.
cloud | the input point cloud |
indices | the point cloud indices that need to be used |
plane_parameters | the plane parameters as: a, b, c, d (ax + by + cz + d = 0) |
curvature | the estimated surface curvature as a measure of
|
Definition at line 217 of file normal_3d.h.
void pcl::NormalEstimation::computePointNormal | ( | const pcl::PointCloud< PointInT > & | cloud, |
const std::vector< int > & | indices, | ||
float & | nx, | ||
float & | ny, | ||
float & | nz, | ||
float & | curvature | ||
) | [inline, inherited] |
Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.
cloud | the input point cloud |
indices | the point cloud indices that need to be used |
nx | the resultant X component of the plane normal |
ny | the resultant Y component of the plane normal |
nz | the resultant Z component of the plane normal |
curvature | the estimated surface curvature as a measure of
|
Definition at line 248 of file normal_3d.h.
void pcl::NormalEstimation::getViewPoint | ( | float & | vpx, |
float & | vpy, | ||
float & | vpz | ||
) | [inline, inherited] |
Get the viewpoint.
Definition at line 280 of file normal_3d.h.
void pcl::NormalEstimationOMP::setNumberOfThreads | ( | unsigned int | nr_threads | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (-1 sets the value back to automatic) |
Definition at line 85 of file normal_3d_omp.h.
void pcl::NormalEstimation::setViewPoint | ( | float | vpx, |
float | vpy, | ||
float | vpz | ||
) | [inline, inherited] |
Set the viewpoint.
vpx | the X coordinate of the viewpoint |
vpy | the Y coordinate of the viewpoint |
vpz | the Z coordinate of the viewpoint |
Definition at line 271 of file normal_3d.h.