Surface normal estimation on dense data using a least-squares estimation based on a first-order Taylor approximation. More...

#include <linear_least_squares_normal.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const LinearLeastSquaresNormalEstimation < PointInT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef boost::shared_ptr < LinearLeastSquaresNormalEstimation < PointInT, PointOutT > >	Ptr
Public Member Functions
void	computePointNormal (const int pos_x, const int pos_y, PointOutT &normal)
	Computes the normal at the specified position.
	LinearLeastSquaresNormalEstimation ()
	Constructor.
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	setNormalSmoothingSize (float normal_smoothing_size)
	Set the normal smoothing size.
virtual	~LinearLeastSquaresNormalEstimation ()
	Destructor.
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Computes the normal for the complete cloud.
Private Attributes
float	max_depth_change_factor_
	Threshold for detecting depth discontinuities.
float	normal_smoothing_size_
bool	use_depth_dependent_smoothing_
	Smooth data based on depth (true/false).

Detailed Description

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

Surface normal estimation on dense data using a least-squares estimation based on a first-order Taylor approximation.

Author:: Stefan Holzer, Cedric Cagniart

Definition at line 52 of file linear_least_squares_normal.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

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

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

Definition at line 56 of file linear_least_squares_normal.h.

template<typename PointInT, typename PointOutT>

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

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

Definition at line 57 of file linear_least_squares_normal.h.

template<typename PointInT, typename PointOutT>

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

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

Definition at line 58 of file linear_least_squares_normal.h.

template<typename PointInT, typename PointOutT>

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

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

Definition at line 55 of file linear_least_squares_normal.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

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

Constructor.

Definition at line 65 of file linear_least_squares_normal.h.

template<typename PointInT , typename PointOutT >

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

Destructor.

Definition at line 47 of file linear_least_squares_normal.hpp.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::LinearLeastSquaresNormalEstimation< 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 155 of file linear_least_squares_normal.hpp.

template<typename PointInT , typename PointOutT >

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

Computes the normal at the specified position.

Parameters:

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

Definition at line 53 of file linear_least_squares_normal.hpp.

template<typename PointInT, typename PointOutT>

void pcl::LinearLeastSquaresNormalEstimation< 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 100 of file linear_least_squares_normal.h.

template<typename PointInT, typename PointOutT>

virtual void pcl::LinearLeastSquaresNormalEstimation< 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 119 of file linear_least_squares_normal.h.

template<typename PointInT, typename PointOutT>

void pcl::LinearLeastSquaresNormalEstimation< 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 110 of file linear_least_squares_normal.h.

template<typename PointInT, typename PointOutT>

void pcl::LinearLeastSquaresNormalEstimation< 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 91 of file linear_least_squares_normal.h.