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. More...

#include <normal_3d.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const NormalEstimation < PointInT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT > ::PointCloudConstPtr	PointCloudConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef boost::shared_ptr < NormalEstimation< PointInT, PointOutT > >	Ptr
Public Member Functions
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	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	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
	NormalEstimation ()
	Empty constructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
void	useSensorOriginAsViewPoint ()
	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
virtual	~NormalEstimation ()
	Empty destructor.
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 ()
Protected Attributes
EIGEN_ALIGN16 Eigen::Matrix3f	covariance_matrix_
	Placeholder for the 3x3 covariance matrix at each surface patch.
bool	use_sensor_origin_
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.

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 197 of file normal_3d.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

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

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

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

Definition at line 201 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 212 of file normal_3d.h.

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::NormalEstimationOMP< PointType, pcl::Normal >.

Definition at line 211 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

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

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

Definition at line 200 of file normal_3d.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

pcl::NormalEstimation< PointInT, PointOutT >::NormalEstimation ( ) [inline]

Empty constructor.

Definition at line 215 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

virtual pcl::NormalEstimation< PointInT, PointOutT >::~NormalEstimation ( ) [inline, virtual]

Empty destructor.

Definition at line 227 of file normal_3d.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::NormalEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut & output ) [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::NormalEstimationOMP< PointType, pcl::Normal >.

Definition at line 48 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,
		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 240 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 268 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.

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 320 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 286 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 303 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 332 of file normal_3d.h.

Member Data Documentation

template<typename PointInT, typename PointOutT>

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

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

Definition at line 363 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

bool pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_ [protected]

whether the sensor origin of the input cloud or a user given viewpoint should be used.

Definition at line 369 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

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 360 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

Definition at line 360 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

Definition at line 360 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

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

Definition at line 366 of file normal_3d.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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