Point Cloud Library (PCL)
1.8.0
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NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point. More...
#include <pcl/features/normal_3d.h>
Public Types | |
typedef boost::shared_ptr< NormalEstimation< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr< const NormalEstimation< PointInT, PointOutT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Feature< PointInT, PointOutT >::PointCloudConstPtr | PointCloudConstPtr |
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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 | |
NormalEstimation () | |
Empty constructor. More... | |
virtual | ~NormalEstimation () |
Empty destructor. More... | |
bool | 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. More... | |
bool | 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. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. 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 () const |
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... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | computeFeature (PointCloudOut &output) |
Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | initCompute () |
This method should get called before starting the actual computation. 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... | |
Protected Attributes | |
float | vpx_ |
Values describing the viewpoint ("pinhole" camera model assumed). More... | |
float | vpy_ |
float | vpz_ |
EIGEN_ALIGN16 Eigen::Matrix3f | covariance_matrix_ |
Placeholder for the 3x3 covariance matrix at each surface patch. More... | |
Eigen::Vector4f | xyz_centroid_ |
16-bytes aligned placeholder for the XYZ centroid of a surface patch. More... | |
bool | use_sensor_origin_ |
whether the sensor origin of the input cloud or a user given viewpoint should be used. More... | |
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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... | |
NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point.
If PointOutT is specified as pcl::Normal, the normal is stored in the first 3 components (0-2), and the curvature is stored in component 3.
Definition at line 199 of file normal_3d.h.
typedef boost::shared_ptr<const NormalEstimation<PointInT, PointOutT> > pcl::NormalEstimation< PointInT, PointOutT >::ConstPtr |
Definition at line 203 of file normal_3d.h.
typedef Feature<PointInT, PointOutT>::PointCloudConstPtr pcl::NormalEstimation< PointInT, PointOutT >::PointCloudConstPtr |
Definition at line 214 of file normal_3d.h.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::NormalEstimation< PointInT, PointOutT >::PointCloudOut |
Definition at line 213 of file normal_3d.h.
typedef boost::shared_ptr<NormalEstimation<PointInT, PointOutT> > pcl::NormalEstimation< PointInT, PointOutT >::Ptr |
Definition at line 202 of file normal_3d.h.
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inline |
Empty constructor.
Definition at line 217 of file normal_3d.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
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inlinevirtual |
Empty destructor.
Definition at line 229 of file normal_3d.h.
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protectedvirtual |
Estimate normals 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 that contains surface normals and curvatures |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 48 of file normal_3d.hpp.
References pcl::computePointNormal(), pcl::flipNormalTowardsViewpoint(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), and pcl::PointCloud< PointT >::points.
Referenced by pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().
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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 242 of file normal_3d.h.
References pcl::computeMeanAndCovarianceMatrix(), pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_, pcl::solvePlaneParameters(), and pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_.
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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 271 of file normal_3d.h.
References pcl::computeMeanAndCovarianceMatrix(), pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_, pcl::solvePlaneParameters(), and pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_.
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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 324 of file normal_3d.h.
References pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.
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inlinevirtual |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 290 of file normal_3d.h.
References pcl::PCLBase< PointInT >::input_, pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_, pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.
Referenced by pcl::UnaryClassifier< PointT >::computeFPFH(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::computeRFAndShapeDistribution(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::gpu::DataSource::estimateNormals(), pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), and pcl::GlobalHypothesesVerification< ModelT, SceneT >::verify().
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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 307 of file normal_3d.h.
References pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_, pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.
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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 336 of file normal_3d.h.
References pcl::NormalEstimation< PointInT, PointOutT >::computeFeature(), pcl::PCLBase< PointInT >::input_, pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_, pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.
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Placeholder for the 3x3 covariance matrix at each surface patch.
Definition at line 367 of file normal_3d.h.
Referenced by pcl::NormalEstimation< PointInT, PointOutT >::computePointNormal().
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whether the sensor origin of the input cloud or a user given viewpoint should be used.
Definition at line 373 of file normal_3d.h.
Referenced by pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().
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Values describing the viewpoint ("pinhole" camera model assumed).
For per point viewpoints, inherit from NormalEstimation and provide your own computeFeature (). By default, the viewpoint is set to 0,0,0.
Definition at line 364 of file normal_3d.h.
Referenced by pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().
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Definition at line 364 of file normal_3d.h.
Referenced by pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().
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Definition at line 364 of file normal_3d.h.
Referenced by pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().
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16-bytes aligned placeholder for the XYZ centroid of a surface patch.
Definition at line 370 of file normal_3d.h.
Referenced by pcl::NormalEstimation< PointInT, PointOutT >::computePointNormal().