Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::NormalEstimationOMP Class Reference

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>

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List of all members.

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.

Detailed Description

NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard.

Author:
Radu Bogdan Rusu

Member Typedef Documentation

Reimplemented from pcl::NormalEstimation< PointInT, PointOutT >.

Definition at line 63 of file normal_3d_omp.h.


Constructor & Destructor Documentation

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.

Parameters:
nr_threadsthe number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 75 of file normal_3d_omp.h.


Member Function Documentation

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.

Parameters:
cloudthe input point cloud
indicesthe point cloud indices that need to be used
plane_parametersthe plane parameters as: a, b, c, d (ax + by + cz + d = 0)
curvaturethe estimated surface curvature as a measure of

\[ \lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2) \]

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.

Parameters:
cloudthe input point cloud
indicesthe point cloud indices that need to be used
nxthe resultant X component of the plane normal
nythe resultant Y component of the plane normal
nzthe resultant Z component of the plane normal
curvaturethe estimated surface curvature as a measure of

\[ \lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2) \]

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.

Parameters:
nr_threadsthe 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.

Parameters:
vpxthe X coordinate of the viewpoint
vpythe Y coordinate of the viewpoint
vpzthe Z coordinate of the viewpoint

Definition at line 271 of file normal_3d.h.


The documentation for this class was generated from the following files:
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