NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures. More...
#include <normal_3d.h>
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 IndicesPtr &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. | |
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.
Definition at line 53 of file normal_3d.h.
Member Typedef Documentation
typedef pcl::PointCloud<pcl::Normal> pcl_ros::NormalEstimation::PointCloudOut [private] |
Definition at line 59 of file normal_3d.h.
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 63 of file normal_3d.h.
| void pcl_ros::NormalEstimation::computePublish | ( | const PointCloudInConstPtr & | cloud, |
| const PointCloudInConstPtr & | surface, | ||
| const IndicesPtr & | indices | ||
| ) | [private, virtual] |
Compute the feature and publish it.
Implements pcl_ros::Feature.
Definition at line 50 of file features/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 features/normal_3d.cpp.
Member Data Documentation
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> pcl_ros::NormalEstimation::impl_ [private] |
PCL implementation object.
Definition at line 57 of file normal_3d.h.
The documentation for this class was generated from the following files: