pcl::IntegralImageNormalEstimation Class Reference

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

#include <integral_image_normal.h>

List of all members.

Public Member Functions
pcl::Normal	compute (const int posX, const int posY)
	IntegralImageNormalEstimation ()
	Constructor.
void	setInputData (float *data, const int width, const int height, const int dimensions, const int element_stride, const int row_stride, const float distance_threshold)
void	setRectSize (const int width, const int height)
virtual	~IntegralImageNormalEstimation ()
	Destructor.
Protected Attributes
float *	data_
float *	depth_data_
float *	diff_x_
float *	diff_y_
int	dimensions_
float	distance_threshold_
int	element_stride_
int	height_
IntegralImage2D< float, float > *	integral_image_x_
IntegralImage2D< float, float > *	integral_image_y_
int	rect_height_
int	rect_width_
int	row_stride_
int	width_

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Detailed Description

Surface normal estimation on dense data using integral images.

Author:

Stefan Holzer

Definition at line 47 of file integral_image_normal.h.

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Constructor & Destructor Documentation

pcl::IntegralImageNormalEstimation::IntegralImageNormalEstimation

(

)

Constructor.

Definition at line 43 of file integral_image_normal.cpp.

pcl::IntegralImageNormalEstimation::~IntegralImageNormalEstimation

(

)

[virtual]

Destructor.

Definition at line 53 of file integral_image_normal.cpp.

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Member Function Documentation

pcl::Normal pcl::IntegralImageNormalEstimation::compute	(	const int	posX,
		const int	posY
	)

Computes the normal at the specified position.

Definition at line 207 of file integral_image_normal.cpp.

void pcl::IntegralImageNormalEstimation::setInputData	(	float *	data,
		const int	width,
		const int	height,
		const int	dimensions,
		const int	element_stride,
		const int	row_stride,
		const float	distance_threshold
	)

Sets the input data.

Parameters:

	data	the dense 2d input data array.
	width	the width of the 2d input data array.
	height	the height of the 2d input data array.
	dimensions	number of dimensions of each element.
	element_stride	number of DataType entries per element (equal or bigger than dimensions).
	row_stride	number of DataType entries per row (equal or bigger than element_stride * number of elements per row).
	distance_threshold	threshold for detecting depth discontinuities

Definition at line 64 of file integral_image_normal.cpp.

void pcl::IntegralImageNormalEstimation::setRectSize	(	const int	width,
		const int	height
	)

Set the regions size which is considered for normal estimation.

Definition at line 199 of file integral_image_normal.cpp.

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Member Data Documentation

float* pcl::IntegralImageNormalEstimation::data_ [protected]

The input data

Definition at line 85 of file integral_image_normal.h.

float* pcl::IntegralImageNormalEstimation::depth_data_ [protected]

depth data

Definition at line 111 of file integral_image_normal.h.

float* pcl::IntegralImageNormalEstimation::diff_x_ [protected]

derivatives in x-direction

Definition at line 106 of file integral_image_normal.h.

float* pcl::IntegralImageNormalEstimation::diff_y_ [protected]

derivatives in y-direction

Definition at line 108 of file integral_image_normal.h.

int pcl::IntegralImageNormalEstimation::dimensions_ [protected]

number of dimensions of each element

Definition at line 91 of file integral_image_normal.h.

float pcl::IntegralImageNormalEstimation::distance_threshold_ [protected]

the threshold used to detect depth discontinuities

Definition at line 98 of file integral_image_normal.h.

int pcl::IntegralImageNormalEstimation::element_stride_ [protected]

number of DataType entries per element

Definition at line 93 of file integral_image_normal.h.

int pcl::IntegralImageNormalEstimation::height_ [protected]

the height of the 2d input data array

Definition at line 89 of file integral_image_normal.h.

IntegralImage2D<float, float>* pcl::IntegralImageNormalEstimation::integral_image_x_ [protected]

integral image in x-direction

Definition at line 101 of file integral_image_normal.h.

IntegralImage2D<float, float>* pcl::IntegralImageNormalEstimation::integral_image_y_ [protected]

integral image in y-direction

Definition at line 103 of file integral_image_normal.h.

int pcl::IntegralImageNormalEstimation::rect_height_ [protected]

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

Definition at line 82 of file integral_image_normal.h.

int pcl::IntegralImageNormalEstimation::rect_width_ [protected]

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

Definition at line 80 of file integral_image_normal.h.

int pcl::IntegralImageNormalEstimation::row_stride_ [protected]

number of DataType entries per row

Definition at line 95 of file integral_image_normal.h.

int pcl::IntegralImageNormalEstimation::width_ [protected]

the width of the 2d input data array

Definition at line 87 of file integral_image_normal.h.

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

• integral_image_normal.h
• integral_image_normal.cpp