pcl_ros::NormalEstimation Class 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_ros::NormalEstimation:

[legend]

List of all members.

Private Types
typedef pcl::PointCloud < pcl::Normal >	PointCloudOut
Private Member Functions
bool	childInit (ros::NodeHandle &nh)
	Child initialization routine. Internal method.
void	computePublish (const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &surface, const IndicesConstPtr &indices)
	Compute the feature and publish it.
void	emptyPublish (const PointCloudInConstPtr &cloud)
	Publish an empty point cloud of the feature output type.
Private Attributes
pcl::NormalEstimation < pcl::PointXYZ, pcl::Normal >	impl_
	PCL implementation object.

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Detailed Description

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 NormalEstimationOpenMP and NormalEstimationTBB for parallel implementations.

Author:

Radu Bogdan Rusu

Definition at line 50 of file normal_3d.h.

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Member Typedef Documentation

typedef pcl::PointCloud<pcl::Normal> pcl_ros::NormalEstimation::PointCloudOut [private]

Definition at line 47 of file normal_3d.h.

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Member Function Documentation

bool pcl_ros::NormalEstimation::childInit

(

ros::NodeHandle &

nh

)

[inline, private, virtual]

Child initialization routine. Internal method.

Implements pcl_ros::Feature.

Definition at line 51 of file normal_3d.h.

void pcl_ros::NormalEstimation::computePublish	(	const PointCloudInConstPtr &	cloud,
		const PointCloudInConstPtr &	surface,
		const IndicesConstPtr &	indices
	)			[private, virtual]

Compute the feature and publish it.

Implements pcl_ros::Feature.

Definition at line 50 of file normal_3d.cpp.

void pcl_ros::NormalEstimation::emptyPublish

(

const PointCloudInConstPtr &

cloud

)

[private, virtual]

Publish an empty point cloud of the feature output type.

Parameters:

cloud

the input point cloud to copy the header from.

Implements pcl_ros::Feature.

Definition at line 42 of file normal_3d.cpp.

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Member Data Documentation

pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> pcl_ros::NormalEstimation::impl_ [private]

PCL implementation object.

Definition at line 45 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.cpp