Surface normal estimation on organized data using integral images. More...

#include <integral_image_normal.h>

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

Public Types
enum	BorderPolicy { BORDER_POLICY_IGNORE, BORDER_POLICY_MIRROR }
	Different types of border handling. More...
typedef boost::shared_ptr < const IntegralImageNormalEstimation < PointInT, PointOutT > >	ConstPtr
enum	NormalEstimationMethod { COVARIANCE_MATRIX, AVERAGE_3D_GRADIENT, AVERAGE_DEPTH_CHANGE, SIMPLE_3D_GRADIENT }
	Different normal estimation methods. More...
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef boost::shared_ptr < IntegralImageNormalEstimation < PointInT, PointOutT > >	Ptr
Public Member Functions
void	computePointNormal (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal)
	Computes the normal at the specified position.
void	computePointNormalMirror (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal)
	Computes the normal at the specified position with mirroring for border handling.
float *	getDistanceMap ()
	Returns a pointer to the distance map which was computed internally.
void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
	IntegralImageNormalEstimation ()
	Constructor.
void	setBorderPolicy (const BorderPolicy border_policy)
	Sets the policy for handling borders.
void	setDepthDependentSmoothing (bool use_depth_dependent_smoothing)
	Set whether to use depth depending smoothing or not.
virtual void	setInputCloud (const typename PointCloudIn::ConstPtr &cloud)
	Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)
void	setMaxDepthChangeFactor (float max_depth_change_factor)
	The depth change threshold for computing object borders.
void	setNormalEstimationMethod (NormalEstimationMethod normal_estimation_method)
	Set the normal estimation method. The current implemented algorithms are:
void	setNormalSmoothingSize (float normal_smoothing_size)
	Set the normal smoothing size.
void	setRectSize (const int width, const int height)
	Set the regions size which is considered for normal estimation.
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	~IntegralImageNormalEstimation ()
	Destructor.
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Computes the normal for the complete cloud.
void	initData ()
	Initialize the data structures, based on the normal estimation method chosen.
Private Member Functions
void	flipNormalTowardsViewpoint (const PointInT &point, float vp_x, float vp_y, float vp_z, float &nx, float &ny, float &nz)
	Flip (in place) the estimated normal of a point towards a given viewpoint.
void	initAverage3DGradientMethod ()
	Internal initialization method for AVERAGE_3D_GRADIENT estimation.
void	initAverageDepthChangeMethod ()
	Internal initialization method for AVERAGE_DEPTH_CHANGE estimation.
bool	initCompute ()
	This method should get called before starting the actual computation.
void	initCovarianceMatrixMethod ()
	Internal initialization method for COVARIANCE_MATRIX estimation.
void	initSimple3DGradientMethod ()
	Internal initialization method for SIMPLE_3D_GRADIENT estimation.
Private Attributes
BorderPolicy	border_policy_
	The policy for handling borders.
float *	depth_data_
float *	diff_x_
float *	diff_y_
float *	distance_map_
float	distance_threshold_
bool	init_average_3d_gradient_
	True when a dataset has been received and the average 3d gradient data has been initialized.
bool	init_covariance_matrix_
	True when a dataset has been received and the covariance_matrix data has been initialized.
bool	init_depth_change_
	True when a dataset has been received and the depth change data has been initialized.
bool	init_simple_3d_gradient_
	True when a dataset has been received and the simple 3d gradient data has been initialized.
IntegralImage2D< float, 1 >	integral_image_depth_
IntegralImage2D< float, 3 >	integral_image_DX_
IntegralImage2D< float, 3 >	integral_image_DY_
IntegralImage2D< float, 3 >	integral_image_XYZ_
float	max_depth_change_factor_
	Threshold for detecting depth discontinuities.
NormalEstimationMethod	normal_estimation_method_
	The normal estimation method to use. Currently, 3 implementations are provided:
float	normal_smoothing_size_
int	rect_height_
int	rect_height_2_
int	rect_height_4_
int	rect_width_
int	rect_width_2_
int	rect_width_4_
bool	use_depth_dependent_smoothing_
	Smooth data based on depth (true/false).
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_

Detailed Description

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

Surface normal estimation on organized data using integral images.

Author:: Stefan Holzer

Definition at line 56 of file integral_image_normal.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

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

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

Definition at line 65 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::PointCloudIn

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

Definition at line 93 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

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

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

Definition at line 94 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

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

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

Definition at line 64 of file integral_image_normal.h.

Member Enumeration Documentation

template<typename PointInT, typename PointOutT>

enum pcl::IntegralImageNormalEstimation::BorderPolicy

Different types of border handling.

Enumerator:

BORDER_POLICY_IGNORE
BORDER_POLICY_MIRROR

Definition at line 68 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

enum pcl::IntegralImageNormalEstimation::NormalEstimationMethod

Different normal estimation methods.

COVARIANCE_MATRIX - creates 9 integral images to compute the normal for a specific point from the covariance matrix of its local neighborhood.
AVERAGE_3D_GRADIENT - creates 6 integral images to compute smoothed versions of horizontal and vertical 3D gradients and computes the normals using the cross-product between these two gradients.
AVERAGE_DEPTH_CHANGE - creates only a single integral image and computes the normals from the average depth changes.

Enumerator:

COVARIANCE_MATRIX
AVERAGE_3D_GRADIENT
AVERAGE_DEPTH_CHANGE
SIMPLE_3D_GRADIENT

Definition at line 85 of file integral_image_normal.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

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

Constructor.

Definition at line 97 of file integral_image_normal.h.

template<typename PointInT , typename PointOutT >

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

Destructor.

Definition at line 46 of file integral_image_normal.hpp.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut & output ) [protected, virtual]

Computes the normal for the complete cloud.

Parameters:

[out] output the resultant normals

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 722 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT>

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computePointNormal	(	const int	pos_x,
		const int	pos_y,
		const unsigned	point_index,
		PointOutT &	normal
	)

Computes the normal at the specified position.

Parameters:

[in]	pos_x	x position (pixel)
[in]	pos_y	y position (pixel)
[in]	point_index	the position index of the point
[out]	normal	the output estimated normal

Definition at line 207 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT>

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computePointNormalMirror	(	const int	pos_x,
		const int	pos_y,
		const unsigned	point_index,
		PointOutT &	normal
	)

Computes the normal at the specified position with mirroring for border handling.

Parameters:

[in]	pos_x	x position (pixel)
[in]	pos_y	y position (pixel)
[in]	point_index	the position index of the point
[out]	normal	the output estimated normal

Definition at line 462 of file integral_image_normal.hpp.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::flipNormalTowardsViewpoint	(	const PointInT &	point,
		float	vp_x,
		float	vp_y,
		float	vp_z,
		float &	nx,
		float &	ny,
		float &	nz
	)		`[inline, private]`

Flip (in place) the estimated normal of a point towards a given viewpoint.

Parameters:

point	a given point
vp_x	the X coordinate of the viewpoint
vp_y	the X coordinate of the viewpoint
vp_z	the X coordinate of the viewpoint
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

Definition at line 329 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float* pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::getDistanceMap ( ) [inline]

Returns a pointer to the distance map which was computed internally.

Definition at line 247 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< 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 275 of file integral_image_normal.h.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initAverage3DGradientMethod ( ) [private]

Internal initialization method for AVERAGE_3D_GRADIENT estimation.

Definition at line 141 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initAverageDepthChangeMethod ( ) [private]

Internal initialization method for AVERAGE_DEPTH_CHANGE estimation.

Definition at line 190 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT >

bool pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initCompute ( ) [private, virtual]

This method should get called before starting the actual computation.

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

Definition at line 1003 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initCovarianceMatrixMethod ( ) [private]

Internal initialization method for COVARIANCE_MATRIX estimation.

Definition at line 123 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initData ( ) [protected]

Initialize the data structures, based on the normal estimation method chosen.

Definition at line 56 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initSimple3DGradientMethod ( ) [private]

Internal initialization method for SIMPLE_3D_GRADIENT estimation.

Definition at line 105 of file integral_image_normal.hpp.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setBorderPolicy ( const BorderPolicy border_policy ) [inline]

Sets the policy for handling borders.

Parameters:

[in] border_policy the border policy.

Definition at line 142 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setDepthDependentSmoothing ( bool use_depth_dependent_smoothing ) [inline]

Set whether to use depth depending smoothing or not.

Parameters:

[in] use_depth_dependent_smoothing decides whether the smoothing is depth dependent

Definition at line 213 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

virtual void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud ( const typename PointCloudIn::ConstPtr & cloud ) [inline, virtual]

Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)

Parameters:

[in] cloud the const boost shared pointer to a PointCloud message

Definition at line 222 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setMaxDepthChangeFactor ( float max_depth_change_factor ) [inline]

The depth change threshold for computing object borders.

Parameters:

[in] max_depth_change_factor the depth change threshold for computing object borders based on depth changes

Definition at line 170 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod ( NormalEstimationMethod normal_estimation_method ) [inline]

Set the normal estimation method. The current implemented algorithms are:

COVARIANCE_MATRIX - creates 9 integral images to compute the normal for a specific point from the covariance matrix of its local neighborhood.
AVERAGE_3D_GRADIENT - creates 6 integral images to compute smoothed versions of horizontal and vertical 3D gradients and computes the normals using the cross-product between these two gradients.
AVERAGE_DEPTH_CHANGE - creates only a single integral image and computes the normals from the average depth changes.

Parameters:

[in] normal_estimation_method the method used for normal estimation

Definition at line 204 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize ( float normal_smoothing_size ) [inline]

Set the normal smoothing size.

Parameters:

[in] normal_smoothing_size factor which influences the size of the area used to smooth normals (depth dependent if useDepthDependentSmoothing is true)

Definition at line 180 of file integral_image_normal.h.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setRectSize	(	const int	width,
		const int	height
	)

Set the regions size which is considered for normal estimation.

Parameters:

[in]	width	the width of the search rectangle
[in]	height	the height of the search rectangle

Definition at line 93 of file integral_image_normal.hpp.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< 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 258 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

void pcl::IntegralImageNormalEstimation< 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 287 of file integral_image_normal.h.

Member Data Documentation

template<typename PointInT, typename PointOutT>

BorderPolicy pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::border_policy_ [private]

The policy for handling borders.

Definition at line 359 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float* pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::depth_data_ [private]

depth data

Definition at line 388 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float* pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::diff_x_ [private]

derivatives in x-direction

Definition at line 383 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float* pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::diff_y_ [private]

derivatives in y-direction

Definition at line 385 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float* pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::distance_map_ [private]

distance map

Definition at line 391 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::distance_threshold_ [private]

the threshold used to detect depth discontinuities

Definition at line 371 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

bool pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::init_average_3d_gradient_ [private]

True when a dataset has been received and the average 3d gradient data has been initialized.

Definition at line 406 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

bool pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::init_covariance_matrix_ [private]

True when a dataset has been received and the covariance_matrix data has been initialized.

Definition at line 403 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

bool pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::init_depth_change_ [private]

True when a dataset has been received and the depth change data has been initialized.

Definition at line 412 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

bool pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::init_simple_3d_gradient_ [private]

True when a dataset has been received and the simple 3d gradient data has been initialized.

Definition at line 409 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

IntegralImage2D<float, 1> pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::integral_image_depth_ [private]

integral image

Definition at line 378 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

IntegralImage2D<float, 3> pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::integral_image_DX_ [private]

integral image in x-direction

Definition at line 374 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

IntegralImage2D<float, 3> pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::integral_image_DY_ [private]

integral image in y-direction

Definition at line 376 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

IntegralImage2D<float, 3> pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::integral_image_XYZ_ [private]

integral image xyz

Definition at line 380 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::max_depth_change_factor_ [private]

Threshold for detecting depth discontinuities.

Definition at line 397 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

NormalEstimationMethod pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::normal_estimation_method_ [private]

The normal estimation method to use. Currently, 3 implementations are provided:

COVARIANCE_MATRIX
AVERAGE_3D_GRADIENT
AVERAGE_DEPTH_CHANGE

Definition at line 356 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::normal_smoothing_size_ [private]

Definition at line 400 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

int pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::rect_height_ [private]

The height of the neighborhood region used for computing the normal.

Definition at line 366 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

int pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::rect_height_2_ [private]

Definition at line 367 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

int pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::rect_height_4_ [private]

Definition at line 368 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

int pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::rect_width_ [private]

The width of the neighborhood region used for computing the normal.

Definition at line 362 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

int pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::rect_width_2_ [private]

Definition at line 363 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

int pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::rect_width_4_ [private]

Definition at line 364 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

bool pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::use_depth_dependent_smoothing_ [private]

Smooth data based on depth (true/false).

Definition at line 394 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

bool pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::use_sensor_origin_ [private]

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

Definition at line 419 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

float pcl::IntegralImageNormalEstimation< 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 416 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

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

Definition at line 416 of file integral_image_normal.h.

template<typename PointInT, typename PointOutT>

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

Definition at line 416 of file integral_image_normal.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

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

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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