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Point Cloud Library (PCL)
1.5.1
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Point Cloud Library (PCL)
1.5.1
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Surface normal estimation on dense data using integral images. More...
#include <pcl/features/integral_image_normal.h>
Public Types | |
| enum | NormalEstimationMethod { COVARIANCE_MATRIX, AVERAGE_3D_GRADIENT, AVERAGE_DEPTH_CHANGE, SIMPLE_3D_GRADIENT } |
| typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
| typedef PCLBase< PointInT > | BaseClass |
| typedef boost::shared_ptr < Feature< PointInT, PointOutT > > | Ptr |
| typedef boost::shared_ptr < const Feature< PointInT, PointOutT > > | ConstPtr |
| typedef pcl::search::Search < PointInT > | KdTree |
| typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
| typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)> | SearchMethodSurface |
| typedef pcl::PointCloud< PointInT > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointIndices::Ptr | PointIndicesPtr |
| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
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 | computePointNormal (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal) |
| Computes the normal at the specified position. | |
| 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) | |
| void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. | |
| PointCloudInConstPtr | getSearchSurface () |
| Get a pointer to the surface point cloud dataset. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. | |
| double | getSearchParameter () |
| Get the internal search parameter. | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. | |
| int | getKSearch () |
| get the number of k nearest neighbors used for the feature estimation. | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. | |
| double | getRadiusSearch () |
| Get the sphere radius used for determining the neighbors. | |
| void | compute (PointCloudOut &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
| void | computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
| int | searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
| int | searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () |
| Get a pointer to the input point cloud dataset. | |
| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. | |
| IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. | |
| const PointInT & | operator[] (size_t pos) |
| Override PointCloud operator[] to shorten code. | |
Surface normal estimation on dense data using integral images.
Definition at line 53 of file integral_image_normal.h.
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited] |
Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.
typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::ConstPtr [inherited] |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< pcl::PointXYZRGBA, PointNT, pcl::SHOT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::IntensityGradient >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PPFSignature >, pcl::FeatureFromNormals< pcl::PointXYZRGBA, PointNT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::Boundary >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures >, and pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >.
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited] |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr [inherited] |
Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >.
typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited] |
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited] |
Definition at line 76 of file pcl_base.h.
| typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::PointCloudIn |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 70 of file integral_image_normal.h.
typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr [inherited] |
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 71 of file integral_image_normal.h.
typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited] |
Reimplemented in pcl::OrganizedFastMesh< PointInT >.
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited] |
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited] |
Definition at line 78 of file pcl_base.h.
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr [inherited] |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< pcl::PointXYZRGBA, PointNT, pcl::SHOT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::IntensityGradient >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PPFSignature >, pcl::FeatureFromNormals< pcl::PointXYZRGBA, PointNT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::Boundary >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures >, and pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >.
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface [inherited] |
| enum pcl::IntegralImageNormalEstimation::NormalEstimationMethod |
Definition at line 62 of file integral_image_normal.h.
| pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::IntegralImageNormalEstimation | ( | ) | [inline] |
Constructor.
Definition at line 74 of file integral_image_normal.h.
| pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::~IntegralImageNormalEstimation | ( | ) | [virtual] |
Destructor.
Definition at line 43 of file integral_image_normal.hpp.
| void pcl::Feature< PointInT, PointOutT >::compute | ( | PointCloudOut & | output | ) | [inherited] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.
Definition at line 201 of file feature.hpp.
| void pcl::Feature< PointInT, PointOutT >::computeEigen | ( | pcl::PointCloud< Eigen::MatrixXf > & | output | ) | [inherited] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::SHOTEstimationBase< PointInT, PointNT, Eigen::MatrixXf >.
Definition at line 237 of file feature.hpp.
| 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 189 of file integral_image_normal.hpp.
| IndicesPtr const pcl::PCLBase< PointInT >::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 190 of file pcl_base.h.
| PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 107 of file pcl_base.h.
| int pcl::Feature< PointInT, PointOutT >::getKSearch | ( | ) | [inline, inherited] |
| double pcl::Feature< PointInT, PointOutT >::getRadiusSearch | ( | ) | [inline, inherited] |
| KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod | ( | ) | [inline, inherited] |
| double pcl::Feature< PointInT, PointOutT >::getSearchParameter | ( | ) | [inline, inherited] |
| PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface | ( | ) | [inline, inherited] |
| const PointInT & pcl::PCLBase< PointInT >::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
| pos | position in indices_ vector |
Definition at line 197 of file pcl_base.h.
| int pcl::Feature< PointInT, PointOutT >::searchForNeighbors | ( | size_t | index, |
| double | parameter, | ||
| std::vector< int > & | indices, | ||
| std::vector< float > & | distances | ||
| ) | const [inline, inherited] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
| [in] | index | the index of the query point |
| [in] | parameter | the search parameter (either k or radius) |
| [out] | indices | the resultant vector of indices representing the k-nearest neighbors |
| [out] | distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
| int pcl::Feature< PointInT, PointOutT >::searchForNeighbors | ( | const PointCloudIn & | cloud, |
| size_t | index, | ||
| double | parameter, | ||
| std::vector< int > & | indices, | ||
| std::vector< float > & | distances | ||
| ) | const [inline, inherited] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
| [in] | cloud | the query point cloud |
| [in] | index | the index of the query point in cloud |
| [in] | parameter | the search parameter (either k or radius) |
| [out] | indices | the resultant vector of indices representing the k-nearest neighbors |
| [out] | distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
| 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 157 of file integral_image_normal.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 113 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const IndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 124 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 135 of file pcl_base.h.
| void pcl::PCLBase< PointInT >::setIndices | ( | size_t | row_start, |
| size_t | col_start, | ||
| size_t | nb_rows, | ||
| size_t | nb_cols | ||
| ) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
| row_start | the offset on rows |
| col_start | the offset on columns |
| nb_rows | the number of rows to be considered row_start included |
| nb_cols | the number of columns to be considered col_start included |
Definition at line 151 of file pcl_base.h.
| virtual void pcl::PCLBase< PointInT >::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
| cloud | the const boost shared pointer to a PointCloud message |
Definition at line 103 of file pcl_base.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 166 of file integral_image_normal.h.
| void pcl::Feature< PointInT, PointOutT >::setKSearch | ( | int | k | ) | [inline, inherited] |
Set the number of k nearest neighbors to use for the feature estimation.
| [in] | k | the number of k-nearest neighbors |
Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.
| 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 120 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 148 of file integral_image_normal.h.
| 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 130 of file integral_image_normal.h.
| void pcl::Feature< PointInT, PointOutT >::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
| 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 75 of file integral_image_normal.hpp.
| void pcl::Feature< PointInT, PointOutT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, inherited] |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.
| [in] | cloud | a pointer to a PointCloud message |
1.8.0
