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:
Private Types | |
| typedef pcl::PointCloud< pcl::Normal > | PointCloudOut |
Private Member Functions | |
| bool | childInit (ros::NodeHandle &nh) |
| Child initialization routine. Internal method. More... | |
| void | computePublish (const PointCloudInConstPtr &cloud, const PointCloudInConstPtr &surface, const IndicesPtr &indices) |
| Compute the feature and publish it. More... | |
| void | emptyPublish (const PointCloudInConstPtr &cloud) |
| Publish an empty point cloud of the feature output type. More... | |
Private Attributes | |
| pcl::NormalEstimation< pcl::PointXYZ, pcl::Normal > | impl_ |
| PCL implementation object. More... | |
Additional Inherited Members | |
 Public Types inherited from pcl_ros::Feature | |
| typedef pcl::IndicesConstPtr | IndicesConstPtr |
| typedef pcl::IndicesPtr | IndicesPtr |
| typedef pcl::KdTree< pcl::PointXYZ > | KdTree |
| typedef pcl::KdTree< pcl::PointXYZ >::Ptr | KdTreePtr |
| typedef pcl::PointCloud< pcl::PointXYZ > | PointCloudIn |
| typedef boost::shared_ptr< const PointCloudIn > | PointCloudInConstPtr |
| typedef boost::shared_ptr< PointCloudIn > | PointCloudInPtr |
| Public Types inherited from pcl_ros::PCLNodelet | |
| typedef pcl::IndicesConstPtr | IndicesConstPtr |
| typedef pcl::IndicesPtr | IndicesPtr |
| typedef pcl_msgs::ModelCoefficients | ModelCoefficients |
| typedef ModelCoefficients::ConstPtr | ModelCoefficientsConstPtr |
| typedef ModelCoefficients::Ptr | ModelCoefficientsPtr |
| typedef pcl::PointCloud< pcl::PointXYZ > | PointCloud |
| typedef sensor_msgs::PointCloud2 | PointCloud2 |
| typedef boost::shared_ptr< const PointCloud > | PointCloudConstPtr |
| typedef boost::shared_ptr< PointCloud > | PointCloudPtr |
| typedef pcl_msgs::PointIndices | PointIndices |
| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
| typedef PointIndices::Ptr | PointIndicesPtr |
| Public Member Functions inherited from pcl_ros::Feature | |
| Feature () | |
| Empty constructor. More... | |
| Public Member Functions inherited from pcl_ros::PCLNodelet | |
| PCLNodelet () | |
| Empty constructor. More... | |
| Public Member Functions inherited from nodelet_topic_tools::NodeletLazy | |
| NodeletLazy () | |
| Public Member Functions inherited from nodelet::Nodelet | |
| void | init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface *st_queue=NULL, ros::CallbackQueueInterface *mt_queue=NULL) |
| Nodelet () | |
| virtual | ~Nodelet () |
| Protected Member Functions inherited from pcl_ros::Feature | |
| void | config_callback (FeatureConfig &config, uint32_t level) |
| Dynamic reconfigure callback. More... | |
| void | input_callback (const PointCloudInConstPtr &input) |
| Input point cloud callback. Because we want to use the same synchronizer object, we push back empty elements with the same timestamp. More... | |
| Protected Member Functions inherited from pcl_ros::PCLNodelet | |
| bool | isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input") |
| Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More... | |
| bool | isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input") |
| Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). More... | |
| bool | isValid (const PointIndicesConstPtr &, const std::string &="indices") |
| Test whether a given PointIndices message is "valid" (i.e., has values). More... | |
| bool | isValid (const ModelCoefficientsConstPtr &, const std::string &="model") |
| Test whether a given ModelCoefficients message is "valid" (i.e., has values). More... | |
| Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy | |
| ros::Publisher | advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false) |
| virtual void | connectionCallback (const ros::SingleSubscriberPublisher &pub) |
| virtual void | onInitPostProcess () |
| virtual void | warnNeverSubscribedCallback (const ros::WallTimerEvent &event) |
| Protected Member Functions inherited from nodelet::Nodelet | |
| ros::CallbackQueueInterface & | getMTCallbackQueue () const |
| ros::NodeHandle & | getMTNodeHandle () const |
| ros::NodeHandle & | getMTPrivateNodeHandle () const |
| const V_string & | getMyArgv () const |
| const std::string & | getName () const |
| ros::NodeHandle & | getNodeHandle () const |
| ros::NodeHandle & | getPrivateNodeHandle () const |
| const M_string & | getRemappingArgs () const |
| ros::CallbackQueueInterface & | getSTCallbackQueue () const |
| std::string | getSuffixedName (const std::string &suffix) const |
| Protected Attributes inherited from pcl_ros::Feature | |
| int | k_ |
| The number of K nearest neighbors to use for each point. More... | |
| message_filters::PassThrough< PointCloudIn > | nf_pc_ |
| message_filters::PassThrough< PointIndices > | nf_pi_ |
| Null passthrough filter, used for pushing empty elements in the synchronizer. More... | |
| double | search_radius_ |
| The nearest neighbors search radius for each point. More... | |
| int | spatial_locator_type_ |
| Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Nearest Neigbor library) kd-tree 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree 2: Organized spatial dataset index. More... | |
| boost::shared_ptr< dynamic_reconfigure::Server< FeatureConfig > > | srv_ |
| Pointer to a dynamic reconfigure service. More... | |
| ros::Subscriber | sub_input_ |
| The input PointCloud subscriber. More... | |
| message_filters::Subscriber< PointCloudIn > | sub_surface_filter_ |
| The surface PointCloud subscriber filter. More... | |
| KdTreePtr | tree_ |
| The input point cloud dataset. More... | |
| bool | use_surface_ |
| Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. More... | |
| Protected Attributes inherited from pcl_ros::PCLNodelet | |
| bool | approximate_sync_ |
| True if we use an approximate time synchronizer versus an exact one (false by default). More... | |
| bool | latched_indices_ |
| Set to true if the indices topic is latched. More... | |
| int | max_queue_size_ |
| The maximum queue size (default: 3). More... | |
| ros::Publisher | pub_output_ |
| The output PointCloud publisher. More... | |
| message_filters::Subscriber< PointIndices > | sub_indices_filter_ |
| The message filter subscriber for PointIndices. More... | |
| message_filters::Subscriber< PointCloud > | sub_input_filter_ |
| The message filter subscriber for PointCloud2. More... | |
| tf::TransformListener | tf_listener_ |
| TF listener object. More... | |
| bool | use_indices_ |
| Set to true if point indices are used. More... | |
| Protected Attributes inherited from nodelet_topic_tools::NodeletLazy | |
| boost::mutex | connection_mutex_ |
| ConnectionStatus | connection_status_ |
| bool | ever_subscribed_ |
| bool | lazy_ |
| boost::shared_ptr< ros::NodeHandle > | nh_ |
| boost::shared_ptr< ros::NodeHandle > | pnh_ |
| std::vector< ros::Publisher > | publishers_ |
| ros::WallTimer | timer_ever_subscribed_ |
| bool | verbose_connection_ |
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
◆ PointCloudOut
|
private |
Definition at line 59 of file normal_3d.h.
Member Function Documentation
◆ childInit()
|
inlineprivatevirtual |
Child initialization routine. Internal method.
Implements pcl_ros::Feature.
Definition at line 63 of file normal_3d.h.
◆ computePublish()
|
privatevirtual |
Compute the feature and publish it.
Implements pcl_ros::Feature.
Definition at line 50 of file normal_3d.cpp.
◆ emptyPublish()
|
privatevirtual |
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.
Member Data Documentation
◆ 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: