Point Cloud Library (PCL)
1.7.0
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Surface normal estimation on organized data using integral images. More...
#include <pcl/features/integral_image_normal.h>
Public Types | |
enum | BorderPolicy { BORDER_POLICY_IGNORE, BORDER_POLICY_MIRROR } |
Different types of border handling. More... | |
enum | NormalEstimationMethod { COVARIANCE_MATRIX, AVERAGE_3D_GRADIENT, AVERAGE_DEPTH_CHANGE, SIMPLE_3D_GRADIENT } |
Different normal estimation methods. More... | |
typedef boost::shared_ptr < IntegralImageNormalEstimation < PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const IntegralImageNormalEstimation < PointInT, PointOutT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
Public Member Functions | |
IntegralImageNormalEstimation () | |
Constructor. | |
virtual | ~IntegralImageNormalEstimation () |
Destructor. | |
void | setRectSize (const int width, const int height) |
Set the regions size which is considered for normal estimation. | |
void | setBorderPolicy (const BorderPolicy border_policy) |
Sets the policy for handling borders. | |
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. | |
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. | |
void | setNormalEstimationMethod (NormalEstimationMethod normal_estimation_method) |
Set the normal estimation method. | |
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) | |
float * | getDistanceMap () |
Returns a pointer to the distance map which was computed internally. | |
void | setViewPoint (float vpx, float vpy, float vpz) |
Set the viewpoint. | |
void | getViewPoint (float &vpx, float &vpy, float &vpz) |
Get the viewpoint. | |
void | useSensorOriginAsViewPoint () |
sets whether the sensor origin or a user given viewpoint should be used. | |
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. |
Surface normal estimation on organized data using integral images.
Definition at line 56 of file integral_image_normal.h.
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.
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.
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.
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.
enum pcl::IntegralImageNormalEstimation::BorderPolicy |
Different types of border handling.
Definition at line 68 of file integral_image_normal.h.
enum pcl::IntegralImageNormalEstimation::NormalEstimationMethod |
Different normal estimation methods.
Definition at line 85 of file integral_image_normal.h.
pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::IntegralImageNormalEstimation | ( | ) | [inline] |
Constructor.
Definition at line 97 of file integral_image_normal.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::Feature< PointInT, PointOutT >::k_, and pcl::Feature< PointInT, PointOutT >::tree_.
pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::~IntegralImageNormalEstimation | ( | ) | [virtual] |
Destructor.
Definition at line 46 of file integral_image_normal.hpp.
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [protected, virtual] |
Computes the normal for the complete cloud.
[out] | output | the resultant normals |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 722 of file integral_image_normal.hpp.
References pcl::computePointNormal(), pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, and pcl::PointCloud< PointT >::width.
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.
[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.
References pcl::eigen33(), pcl::EIGEN_ALIGN16, pcl::flipNormalTowardsViewpoint(), pcl::IntegralImage2D< DataType, Dimension >::getFirstOrderSum(), and pcl::IntegralImage2D< DataType, Dimension >::getSecondOrderSum().
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.
[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.
References pcl::eigen33(), pcl::EIGEN_ALIGN16, and pcl::flipNormalTowardsViewpoint().
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.
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::getViewPoint | ( | float & | vpx, |
float & | vpy, | ||
float & | vpz | ||
) | [inline] |
Get the viewpoint.
[out] | vpx | x-coordinate of the view point |
[out] | vpy | y-coordinate of the view point |
[out] | vpz | z-coordinate of the view point |
Definition at line 275 of file integral_image_normal.h.
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.
Referenced by pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud().
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setBorderPolicy | ( | const BorderPolicy | border_policy | ) | [inline] |
Sets the policy for handling borders.
[in] | border_policy | the border policy. |
Definition at line 142 of file integral_image_normal.h.
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setDepthDependentSmoothing | ( | bool | use_depth_dependent_smoothing | ) | [inline] |
Set whether to use depth depending smoothing or not.
[in] | use_depth_dependent_smoothing | decides whether the smoothing is depth dependent |
Definition at line 213 of file integral_image_normal.h.
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)
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 222 of file integral_image_normal.h.
References pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initData(), and pcl::PCLBase< PointInT >::input_.
Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setMaxDepthChangeFactor | ( | float | max_depth_change_factor | ) | [inline] |
The depth change threshold for computing object borders.
[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.
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod | ( | NormalEstimationMethod | normal_estimation_method | ) | [inline] |
Set the normal estimation method.
The current implemented algorithms are:
[in] | normal_estimation_method | the method used for normal estimation |
Definition at line 204 of file integral_image_normal.h.
Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize | ( | float | normal_smoothing_size | ) | [inline] |
Set the normal smoothing size.
[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.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setRectSize | ( | const int | width, |
const int | height | ||
) |
Set the regions size which is considered for normal estimation.
[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.
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setViewPoint | ( | float | vpx, |
float | vpy, | ||
float | vpz | ||
) | [inline] |
Set the viewpoint.
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.
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.
References pcl::PCLBase< PointInT >::input_.