NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point. More...

#include <pcl/features/normal_3d.h>

Inheritance diagram for pcl::NormalEstimation< PointInT, PointOutT >:

Collaboration diagram for pcl::NormalEstimation< PointInT, PointOutT >:

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut

typedef Feature< PointInT, PointOutT > ::PointCloudConstPtr	PointCloudConstPtr

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

typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	NormalEstimation ()
	Empty constructor. More...

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. More...

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. 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...

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...

void	computeEigen (pcl::PointCloud< Eigen::MatrixXf > &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...

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...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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...

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::NormalEstimation< PointInT, PointOutT >

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.

Note: The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOMP for a parallel implementation.

Author: Radu B. Rusu

Definition at line 193 of file normal_3d.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass

inherited

Definition at line 110 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::ConstPtr

inherited

Definition at line 113 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree

inherited

Definition at line 115 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr

inherited

Definition at line 116 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudConstPtr pcl::NormalEstimation< PointInT, PointOutT >::PointCloudConstPtr

Definition at line 206 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

typedef pcl::PointCloud<PointInT> pcl::Feature< PointInT, PointOutT >::PointCloudIn

inherited

Definition at line 118 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr

inherited

Definition at line 120 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr

inherited

Definition at line 119 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::NormalEstimation< PointInT, PointOutT >::PointCloudOut

Definition at line 205 of file normal_3d.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr

inherited

Definition at line 112 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod

inherited

Definition at line 124 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface

inherited

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

pcl::NormalEstimation< PointInT, PointOutT >::NormalEstimation ( )

inline

Empty constructor.

Definition at line 209 of file normal_3d.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::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 ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

Definition at line 188 of file feature.hpp.

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::computeEigen ( pcl::PointCloud< Eigen::MatrixXf > & 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 ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

Definition at line 224 of file feature.hpp.

template<typename PointInT, typename PointOutT>

void pcl::NormalEstimation< PointInT, PointOutT >::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.

Parameters

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 $\lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2)$

Definition at line 231 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

void pcl::NormalEstimation< PointInT, PointOutT >::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.

Parameters

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 $\lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2)$

Definition at line 257 of file normal_3d.h.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

int pcl::Feature< PointInT, PointOutT >::getKSearch ( ) const

inlineinherited

get the number of k nearest neighbors used for the feature estimation.

Definition at line 186 of file feature.h.

template<typename PointInT, typename PointOutT>

double pcl::Feature< PointInT, PointOutT >::getRadiusSearch ( ) const

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod ( ) const

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

template<typename PointInT, typename PointOutT>

double pcl::Feature< PointInT, PointOutT >::getSearchParameter ( ) const

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface ( ) const

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)

inline

Get the viewpoint.

Parameters

[out]	vpx	x-coordinate of the view point
[out]	vpy	y-coordinate of the view point
[out]	vpz	z-coordinate of the view point

Note: this method returns the currently used viewpoint for normal flipping. If the viewpoint is set manually using the setViewPoint method, this method will return the set view point coordinates. If an input cloud is set, it will return the sensor origin otherwise it will return the origin (0, 0, 0)

Definition at line 307 of file normal_3d.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos )

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

virtual void pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtual

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 273 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setKSearch ( int k )

inlineinherited

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

[in] k the number of k-nearest neighbors

Definition at line 182 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setRadiusSearch ( double radius )

inlineinherited

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 196 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree )

inlineinherited

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 162 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr & cloud )

inlineinherited

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.

Parameters

[in] cloud a pointer to a PointCloud message

Definition at line 144 of file feature.h.

template<typename PointInT, typename PointOutT>

void pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)

inline

Set the viewpoint.

Parameters

vpx	the X coordinate of the viewpoint
vpy	the Y coordinate of the viewpoint
vpz	the Z coordinate of the viewpoint

Definition at line 290 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

void pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint ( )

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 319 of file normal_3d.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/normal_3d.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/normal_3d.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::NormalEstimation< PointInT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename PointOutT>
class pcl::NormalEstimation< PointInT, PointOutT >