Point Cloud Library (PCL)
1.7.1
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Surface normal estimation on organized data using integral images. More...
#include <pcl/features/integral_image_normal.h>
Public Types | |
enum | BorderPolicy { BORDER_POLICY_IGNORE, BORDER_POLICY_MIRROR } |
Different types of border handling. More... | |
enum | NormalEstimationMethod { COVARIANCE_MATRIX, AVERAGE_3D_GRADIENT, AVERAGE_DEPTH_CHANGE, SIMPLE_3D_GRADIENT } |
Different normal estimation methods. More... | |
typedef boost::shared_ptr < IntegralImageNormalEstimation < PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const IntegralImageNormalEstimation < PointInT, PointOutT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
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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 pcl::PointCloud < PointOutT > | PointCloudOut |
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 |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
IntegralImageNormalEstimation () | |
Constructor. More... | |
virtual | ~IntegralImageNormalEstimation () |
Destructor. More... | |
void | setRectSize (const int width, const int height) |
Set the regions size which is considered for normal estimation. More... | |
void | setBorderPolicy (const BorderPolicy border_policy) |
Sets the policy for handling borders. More... | |
void | computePointNormal (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal) |
Computes the normal at the specified position. More... | |
void | computePointNormalMirror (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal) |
Computes the normal at the specified position with mirroring for border handling. More... | |
void | setMaxDepthChangeFactor (float max_depth_change_factor) |
The depth change threshold for computing object borders. More... | |
void | setNormalSmoothingSize (float normal_smoothing_size) |
Set the normal smoothing size. More... | |
void | setNormalEstimationMethod (NormalEstimationMethod normal_estimation_method) |
Set the normal estimation method. More... | |
void | setDepthDependentSmoothing (bool use_depth_dependent_smoothing) |
Set whether to use depth depending smoothing or not. More... | |
virtual void | setInputCloud (const typename PointCloudIn::ConstPtr &cloud) |
Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method) More... | |
float * | getDistanceMap () |
Returns a pointer to the distance map which was computed internally. More... | |
void | setViewPoint (float vpx, float vpy, float vpz) |
Set the viewpoint. More... | |
void | getViewPoint (float &vpx, float &vpy, float &vpz) |
Get the viewpoint. More... | |
void | useSensorOriginAsViewPoint () |
sets whether the sensor origin or a user given viewpoint should be used. More... | |
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Feature () | |
Empty constructor. More... | |
virtual | ~Feature () |
Empty destructor. More... | |
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. More... | |
PointCloudInConstPtr | getSearchSurface () const |
Get a pointer to the surface point cloud dataset. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... | |
KdTreePtr | getSearchMethod () const |
Get a pointer to the search method used. More... | |
double | getSearchParameter () const |
Get the internal search parameter. More... | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... | |
int | getKSearch () const |
get the number of k nearest neighbors used for the feature estimation. More... | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... | |
double | getRadiusSearch () const |
Get the sphere radius used for determining the neighbors. More... | |
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 () More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | computeFeature (PointCloudOut &output) |
Computes the normal for the complete cloud. More... | |
void | initData () |
Initialize the data structures, based on the normal estimation method chosen. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | deinitCompute () |
This method should get called after ending the actual computation. More... | |
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. More... | |
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. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Additional Inherited Members | |
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std::string | feature_name_ |
The feature name. More... | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. More... | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
double | search_parameter_ |
The actual search parameter (from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
The number of K nearest neighbors to use for each point. More... | |
bool | fake_surface_ |
If no surface is given, we use the input PointCloud as the surface. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
Surface normal estimation on organized data using integral images.
Definition at line 56 of file integral_image_normal.h.
typedef boost::shared_ptr<const IntegralImageNormalEstimation<PointInT, PointOutT> > pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::ConstPtr |
Definition at line 65 of file integral_image_normal.h.
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::PointCloudIn |
Definition at line 93 of file integral_image_normal.h.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::PointCloudOut |
Definition at line 94 of file integral_image_normal.h.
typedef boost::shared_ptr<IntegralImageNormalEstimation<PointInT, PointOutT> > pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::Ptr |
Definition at line 64 of file integral_image_normal.h.
enum pcl::IntegralImageNormalEstimation::BorderPolicy |
Different types of border handling.
Enumerator | |
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BORDER_POLICY_IGNORE | |
BORDER_POLICY_MIRROR |
Definition at line 68 of file integral_image_normal.h.
enum pcl::IntegralImageNormalEstimation::NormalEstimationMethod |
Different normal estimation methods.
Enumerator | |
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COVARIANCE_MATRIX | |
AVERAGE_3D_GRADIENT | |
AVERAGE_DEPTH_CHANGE | |
SIMPLE_3D_GRADIENT |
Definition at line 85 of file integral_image_normal.h.
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Constructor.
Definition at line 97 of file integral_image_normal.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::Feature< PointInT, PointOutT >::k_, and pcl::Feature< PointInT, PointOutT >::tree_.
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Destructor.
Definition at line 46 of file integral_image_normal.hpp.
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protectedvirtual |
Computes the normal for the complete cloud.
[out] | output | the resultant normals |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 722 of file integral_image_normal.hpp.
References pcl::computePointNormal(), pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::PointCloud< PointT >::width.
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computePointNormal | ( | const int | pos_x, |
const int | pos_y, | ||
const unsigned | point_index, | ||
PointOutT & | normal | ||
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Computes the normal at the specified position.
[in] | pos_x | x position (pixel) |
[in] | pos_y | y position (pixel) |
[in] | point_index | the position index of the point |
[out] | normal | the output estimated normal |
Definition at line 207 of file integral_image_normal.hpp.
References pcl::eigen33(), pcl::EIGEN_ALIGN16, pcl::flipNormalTowardsViewpoint(), pcl::IntegralImage2D< DataType, Dimension >::getFirstOrderSum(), and pcl::IntegralImage2D< DataType, Dimension >::getSecondOrderSum().
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computePointNormalMirror | ( | const int | pos_x, |
const int | pos_y, | ||
const unsigned | point_index, | ||
PointOutT & | normal | ||
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Computes the normal at the specified position with mirroring for border handling.
[in] | pos_x | x position (pixel) |
[in] | pos_y | y position (pixel) |
[in] | point_index | the position index of the point |
[out] | normal | the output estimated normal |
Definition at line 462 of file integral_image_normal.hpp.
References pcl::eigen33(), pcl::EIGEN_ALIGN16, and pcl::flipNormalTowardsViewpoint().
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Returns a pointer to the distance map which was computed internally.
Definition at line 247 of file integral_image_normal.h.
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Get the viewpoint.
[out] | vpx | x-coordinate of the view point |
[out] | vpy | y-coordinate of the view point |
[out] | vpz | z-coordinate of the view point |
Definition at line 275 of file integral_image_normal.h.
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protected |
Initialize the data structures, based on the normal estimation method chosen.
Definition at line 56 of file integral_image_normal.hpp.
Referenced by pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud().
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Sets the policy for handling borders.
[in] | border_policy | the border policy. |
Definition at line 142 of file integral_image_normal.h.
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inline |
Set whether to use depth depending smoothing or not.
[in] | use_depth_dependent_smoothing | decides whether the smoothing is depth dependent |
Definition at line 213 of file integral_image_normal.h.
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Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 222 of file integral_image_normal.h.
References pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initData(), and pcl::PCLBase< PointInT >::input_.
Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
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The depth change threshold for computing object borders.
[in] | max_depth_change_factor | the depth change threshold for computing object borders based on depth changes |
Definition at line 170 of file integral_image_normal.h.
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inline |
Set the normal estimation method.
The current implemented algorithms are:
[in] | normal_estimation_method | the method used for normal estimation |
Definition at line 204 of file integral_image_normal.h.
Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
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Set the normal smoothing size.
[in] | normal_smoothing_size | factor which influences the size of the area used to smooth normals (depth dependent if useDepthDependentSmoothing is true) |
Definition at line 180 of file integral_image_normal.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setRectSize | ( | const int | width, |
const int | height | ||
) |
Set the regions size which is considered for normal estimation.
[in] | width | the width of the search rectangle |
[in] | height | the height of the search rectangle |
Definition at line 93 of file integral_image_normal.hpp.
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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 258 of file integral_image_normal.h.
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inline |
sets whether the sensor origin or a user given viewpoint should be used.
After this method, the normal estimation method uses the sensor origin of the input cloud. to use a user defined view point, use the method setViewPoint
Definition at line 287 of file integral_image_normal.h.
References pcl::PCLBase< PointInT >::input_.