Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::NormalEstimation< PointInT, PointOutT > Class Template Reference

NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point. More...

#include <pcl/features/normal_3d.h>

+ Inheritance diagram for pcl::NormalEstimation< PointInT, PointOutT >:

List of all members.

Public Types

typedef boost::shared_ptr
< NormalEstimation< PointInT,
PointOutT > > 
Ptr
typedef boost::shared_ptr
< const NormalEstimation
< PointInT, PointOutT > > 
ConstPtr
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Feature< PointInT,
PointOutT >
::PointCloudConstPtr 
PointCloudConstPtr

Public Member Functions

 NormalEstimation ()
 Empty constructor.
virtual ~NormalEstimation ()
 Empty destructor.
void computePointNormal (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, Eigen::Vector4f &plane_parameters, float &curvature)
 Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.
void computePointNormal (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &nx, float &ny, float &nz, float &curvature)
 Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset.
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)
 Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Protected Attributes

float vpx_
 Values describing the viewpoint ("pinhole" camera model assumed).
float vpy_
float vpz_
EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_
 Placeholder for the 3x3 covariance matrix at each surface patch.
Eigen::Vector4f xyz_centroid_
 16-bytes aligned placeholder for the XYZ centroid of a surface patch.
bool use_sensor_origin_
 whether the sensor origin of the input cloud or a user given viewpoint should be used.

Detailed Description

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

NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point.

If PointOutT is specified as pcl::Normal, the normal is stored in the first 3 components (0-2), and the curvature is stored in component 3.

Note:
The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOMP for a parallel implementation.
Author:
Radu B. Rusu

Definition at line 197 of file normal_3d.h.


Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr<const NormalEstimation<PointInT, PointOutT> > pcl::NormalEstimation< PointInT, PointOutT >::ConstPtr

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

Reimplemented in pcl::NormalEstimationOMP< PointInT, PointOutT >.

Definition at line 201 of file normal_3d.h.

template<typename PointInT, typename PointOutT>
typedef Feature<PointInT, PointOutT>::PointCloudConstPtr pcl::NormalEstimation< PointInT, PointOutT >::PointCloudConstPtr

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 212 of file normal_3d.h.

template<typename PointInT, typename PointOutT>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::NormalEstimation< PointInT, PointOutT >::PointCloudOut

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

Reimplemented in pcl::NormalEstimationOMP< PointInT, PointOutT >.

Definition at line 211 of file normal_3d.h.

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr<NormalEstimation<PointInT, PointOutT> > pcl::NormalEstimation< PointInT, PointOutT >::Ptr

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

Reimplemented in pcl::NormalEstimationOMP< PointInT, PointOutT >.

Definition at line 200 of file normal_3d.h.


Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>
pcl::NormalEstimation< PointInT, PointOutT >::NormalEstimation ( ) [inline]

Empty constructor.

Definition at line 215 of file normal_3d.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

template<typename PointInT, typename PointOutT>
virtual pcl::NormalEstimation< PointInT, PointOutT >::~NormalEstimation ( ) [inline, virtual]

Empty destructor.

Definition at line 227 of file normal_3d.h.


Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::NormalEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut output) [protected, virtual]

Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Note:
In situations where not enough neighbors are found, the normal and curvature values are set to -1.
Parameters:
outputthe resultant point cloud model dataset that contains surface normals and curvatures

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 48 of file normal_3d.hpp.

References pcl::computePointNormal(), pcl::flipNormalTowardsViewpoint(), pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), and pcl::PointCloud< PointT >::points.

template<typename PointInT, typename PointOutT>
void pcl::NormalEstimation< PointInT, PointOutT >::computePointNormal ( const pcl::PointCloud< PointInT > &  cloud,
const std::vector< int > &  indices,
Eigen::Vector4f &  plane_parameters,
float &  curvature 
) [inline]

Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.

Parameters:
cloudthe input point cloud
indicesthe point cloud indices that need to be used
plane_parametersthe plane parameters as: a, b, c, d (ax + by + cz + d = 0)
curvaturethe estimated surface curvature as a measure of

\[ \lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2) \]

Definition at line 240 of file normal_3d.h.

References pcl::computeMeanAndCovarianceMatrix(), pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_, pcl::solvePlaneParameters(), and pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_.

template<typename PointInT, typename PointOutT>
void pcl::NormalEstimation< PointInT, PointOutT >::computePointNormal ( const pcl::PointCloud< PointInT > &  cloud,
const std::vector< int > &  indices,
float &  nx,
float &  ny,
float &  nz,
float &  curvature 
) [inline]

Compute the Least-Squares plane fit for a given set of points, using their indices, and return the estimated plane parameters together with the surface curvature.

Parameters:
cloudthe input point cloud
indicesthe point cloud indices that need to be used
nxthe resultant X component of the plane normal
nythe resultant Y component of the plane normal
nzthe resultant Z component of the plane normal
curvaturethe estimated surface curvature as a measure of

\[ \lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2) \]

Definition at line 268 of file normal_3d.h.

References pcl::computeMeanAndCovarianceMatrix(), pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_, pcl::solvePlaneParameters(), and pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_.

template<typename PointInT, typename PointOutT>
void pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint ( float &  vpx,
float &  vpy,
float &  vpz 
) [inline]

Get the viewpoint.

Parameters:
[out]vpxx-coordinate of the view point
[out]vpyy-coordinate of the view point
[out]vpzz-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 320 of file normal_3d.h.

References pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.

template<typename PointInT, typename PointOutT>
virtual void pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud ( const PointCloudConstPtr cloud) [inline, virtual]
template<typename PointInT, typename PointOutT>
void pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint ( float  vpx,
float  vpy,
float  vpz 
) [inline]

Set the viewpoint.

Parameters:
vpxthe X coordinate of the viewpoint
vpythe Y coordinate of the viewpoint
vpzthe Z coordinate of the viewpoint

Definition at line 303 of file normal_3d.h.

References pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_, pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.

template<typename PointInT, typename PointOutT>
void pcl::NormalEstimation< 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 332 of file normal_3d.h.

References pcl::PCLBase< PointInT >::input_, pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_, pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.


Member Data Documentation

template<typename PointInT, typename PointOutT>
EIGEN_ALIGN16 Eigen::Matrix3f pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_ [protected]

Placeholder for the 3x3 covariance matrix at each surface patch.

Definition at line 363 of file normal_3d.h.

Referenced by pcl::NormalEstimation< PointInT, PointOutT >::computePointNormal().

template<typename PointInT, typename PointOutT>
bool pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_ [protected]

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

Definition at line 369 of file normal_3d.h.

Referenced by pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().

template<typename PointInT, typename PointOutT>
float pcl::NormalEstimation< PointInT, PointOutT >::vpx_ [protected]

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 360 of file normal_3d.h.

Referenced by pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().

template<typename PointInT, typename PointOutT>
float pcl::NormalEstimation< PointInT, PointOutT >::vpy_ [protected]
template<typename PointInT, typename PointOutT>
float pcl::NormalEstimation< PointInT, PointOutT >::vpz_ [protected]
template<typename PointInT, typename PointOutT>
Eigen::Vector4f pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_ [protected]

16-bytes aligned placeholder for the XYZ centroid of a surface patch.

Definition at line 366 of file normal_3d.h.

Referenced by pcl::NormalEstimation< PointInT, PointOutT >::computePointNormal().


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