Point Cloud Library (PCL)
1.3.1
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NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures. More...
#include <pcl/features/normal_3d.h>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef PCLBase< PointInT > | BaseClass |
typedef boost::shared_ptr < Feature< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const Feature< PointInT, PointOutT > > | ConstPtr |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)> | SearchMethodSurface |
Public Member Functions | |
NormalEstimation () | |
Empty constructor. | |
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. | |
void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. | |
double | getSearchParameter () |
Get the internal search parameter. | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. | |
void | compute (PointCloudOut &output) |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
int | searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
int | searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. |
NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures.
typedef PCLBase<PointInT> pcl::Feature::BaseClass [inherited] |
typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature::ConstPtr [inherited] |
Reimplemented in pcl::FeatureFromNormals.
typedef pcl::search::Search<PointInT> pcl::Feature::KdTree [inherited] |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature::KdTreePtr [inherited] |
typedef pcl::PointCloud<PointInT> pcl::Feature::PointCloudIn [inherited] |
Reimplemented in pcl::UniqueShapeContext, pcl::IntegralImageNormalEstimation, pcl::RIFTEstimation, and pcl::IntensitySpinEstimation.
typedef PointCloudIn::ConstPtr pcl::Feature::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature::PointCloudInPtr [inherited] |
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::NormalEstimation::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Reimplemented in pcl::NormalEstimationOMP.
Definition at line 198 of file normal_3d.h.
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature::Ptr [inherited] |
Reimplemented in pcl::FeatureFromNormals.
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature::SearchMethodSurface [inherited] |
pcl::NormalEstimation::NormalEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 201 of file normal_3d.h.
void pcl::Feature::compute | ( | PointCloudOut & | output | ) | [inherited] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
output | the resultant point cloud model dataset containing the estimated features |
void pcl::NormalEstimation::computePointNormal | ( | const pcl::PointCloud< PointInT > & | cloud, |
const std::vector< int > & | indices, | ||
Eigen::Vector4f & | plane_parameters, | ||
float & | curvature | ||
) | [inline] |
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
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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] |
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
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Definition at line 248 of file normal_3d.h.
int pcl::Feature::getKSearch | ( | ) | [inline, inherited] |
double pcl::Feature::getRadiusSearch | ( | ) | [inline, inherited] |
KdTreePtr pcl::Feature::getSearchMethod | ( | ) | [inline, inherited] |
double pcl::Feature::getSearchParameter | ( | ) | [inline, inherited] |
PointCloudInConstPtr pcl::Feature::getSearchSurface | ( | ) | [inline, inherited] |
void pcl::NormalEstimation::getViewPoint | ( | float & | vpx, |
float & | vpy, | ||
float & | vpz | ||
) | [inline] |
Get the viewpoint.
Definition at line 280 of file normal_3d.h.
int pcl::Feature::searchForNeighbors | ( | size_t | index, |
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | const [inline, inherited] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
index | the index of the query point |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
int pcl::Feature::searchForNeighbors | ( | const PointCloudIn & | cloud, |
size_t | index, | ||
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | const [inline, inherited] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
cloud | the query point cloud |
index | the index of the query point in cloud |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
void pcl::Feature::setKSearch | ( | int | k | ) | [inline, inherited] |
void pcl::Feature::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
void pcl::Feature::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
void pcl::Feature::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, inherited] |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.
cloud | a pointer to a PointCloud message |
void pcl::NormalEstimation::setViewPoint | ( | float | vpx, |
float | vpy, | ||
float | vpz | ||
) | [inline] |
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.