pcl::NormalEstimation< PointInT, PointOutT > Class Template Reference

NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures. More...

#include <normal_3d.h>

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

[legend]

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
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	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	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
	NormalEstimation ()
	Empty constructor.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
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 ().
Private Attributes
EIGEN_ALIGN16 Eigen::Matrix3f	covariance_matrix_
	Placeholder for the 3x3 covariance matrix at each surface patch.
float	vpx_
	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.
float	vpy_
float	vpz_
Eigen::Vector4f	xyz_centroid_
	16-bytes aligned placeholder for the XYZ centroid of a surface patch.

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Detailed Description

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

NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures.

Note:

The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOMP and NormalEstimationTBB for parallel implementations.

Author:

Radu Bogdan Rusu

Definition at line 180 of file normal_3d.h.

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Member Typedef Documentation

template<typename PointInT, typename PointOutT>

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

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

Reimplemented in pcl::NormalEstimationOMP< PointInT, PointOutT >, and pcl::NormalEstimationTBB< PointInT, PointOutT >.

Definition at line 191 of file normal_3d.h.

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Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

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

(

)

[inline]

Empty constructor.

Definition at line 194 of file normal_3d.h.

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Member Function Documentation

template<typename PointInT , typename PointOutT >

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

(

PointCloudOut &

output

)

[inline, protected, virtual]

Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Note:

In situations where not enough neighbors are found, the normal and curvature values are set to -1.

Parameters:

output

the resultant point cloud model dataset that contains surface normals and curvatures

Implements pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::NormalEstimationOMP< PointInT, PointOutT >, and pcl::NormalEstimationTBB< PointInT, PointOutT >.

Definition at line 45 of file normal_3d.hpp.

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

Definition at line 241 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,
		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

Definition at line 210 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

Get the viewpoint.

Definition at line 273 of file normal_3d.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 264 of file normal_3d.h.

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Member Data Documentation

template<typename PointInT, typename PointOutT>

EIGEN_ALIGN16 Eigen::Matrix3f pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_ [private]

Placeholder for the 3x3 covariance matrix at each surface patch.

Definition at line 294 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

float pcl::NormalEstimation< PointInT, PointOutT >::vpx_ [private]

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 291 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

float pcl::NormalEstimation< PointInT, PointOutT >::vpy_ [private]

Definition at line 291 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

float pcl::NormalEstimation< PointInT, PointOutT >::vpz_ [private]

Definition at line 291 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

Eigen::Vector4f pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_ [private]

16-bytes aligned placeholder for the XYZ centroid of a surface patch.

Definition at line 297 of file normal_3d.h.

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

• normal_3d.h
• normal_3d.hpp