Point Cloud Library (PCL)  1.5.1
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pcl::NormalEstimation< PointInT, PointOutT > Class Template Reference
Module features

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

#include <pcl/features/normal_3d.h>

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List of all members.

Public Types

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 pcl::PointCloud< PointInT > PointCloudIn
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

 NormalEstimation ()
 Empty constructor.
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.
void setViewPoint (float vpx, float vpy, float vpz)
 Set the viewpoint.
void getViewPoint (float &vpx, float &vpy, float &vpz)
 Get the viewpoint.
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.

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 177 of file normal_3d.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited]

Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.

Definition at line 110 of file feature.h.

template<typename PointInT, typename PointOutT>
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 >.

Definition at line 113 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited]

Definition at line 115 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr [inherited]

Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >.

Definition at line 116 of file feature.h.

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.

template<typename PointInT, typename PointOutT>
typedef pcl::PointCloud<PointInT> pcl::Feature< PointInT, PointOutT >::PointCloudIn [inherited]

Reimplemented in pcl::SHOTEstimation< pcl::PointXYZRGBA, PointNT, PointOutT >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimation< pcl::PointXYZRGBA, PointNT, pcl::SHOT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationOMP< pcl::PointXYZRGBA, PointNT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationBase< pcl::PointXYZRGBA, PointNT, pcl::SHOT >, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT >, pcl::SHOTEstimationBase< pcl::PointXYZRGBA, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT >, pcl::UniqueShapeContext< PointInT, pcl::SHOT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, pcl::PrincipalCurvatures >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, pcl::Histogram< 32 > >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, and pcl::IntensitySpinEstimation< PointInT, pcl::Histogram< 20 > >.

Definition at line 118 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr [inherited]

Reimplemented in pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, and pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >.

Definition at line 120 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr [inherited]

Reimplemented in pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, and pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >.

Definition at line 119 of file feature.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 >, and pcl::NormalEstimationOMP< PointInT, pcl::Normal >.

Definition at line 189 of file normal_3d.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.

template<typename PointInT, typename PointOutT>
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 >.

Definition at line 112 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod [inherited]

Definition at line 124 of file feature.h.

template<typename PointInT, typename PointOutT>
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface [inherited]

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 192 of file normal_3d.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >
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 ()

Parameters:
[out]outputthe resultant point cloud model dataset containing the estimated features

Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.

Definition at line 201 of file feature.hpp.

template<typename PointInT , typename PointOutT >
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 ()

Parameters:
[out]outputthe 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.

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 208 of file normal_3d.h.

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 234 of file normal_3d.h.

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.

template<typename PointInT, typename PointOutT>
int pcl::Feature< PointInT, PointOutT >::getKSearch ( ) [inline, inherited]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 173 of file feature.h.

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::getRadiusSearch ( ) [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 184 of file feature.h.

template<typename PointInT, typename PointOutT>
KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 159 of file feature.h.

template<typename PointInT, typename PointOutT>
double pcl::Feature< PointInT, PointOutT >::getSearchParameter ( ) [inline, inherited]

Get the internal search parameter.

Definition at line 163 of file feature.h.

template<typename PointInT, typename PointOutT>
PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface ( ) [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 149 of file feature.h.

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

Get the viewpoint.

Definition at line 261 of file normal_3d.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t  pos) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:
this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]
Parameters:
posposition in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointInT, typename PointOutT>
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.

Parameters:
[in]indexthe index of the query point
[in]parameterthe search parameter (either k or radius)
[out]indicesthe resultant vector of indices representing the k-nearest neighbors
[out]distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors
Returns:
the number of neighbors found. If no neighbors are found or an error occurred, return 0.

Definition at line 213 of file feature.h.

template<typename PointInT, typename PointOutT>
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.

Parameters:
[in]cloudthe query point cloud
[in]indexthe index of the query point in cloud
[in]parameterthe search parameter (either k or radius)
[out]indicesthe resultant vector of indices representing the k-nearest neighbors
[out]distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors
Returns:
the number of neighbors found. If no neighbors are found or an error occurred, return 0.

Definition at line 234 of file feature.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr &  indices) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indicesa 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.

Parameters:
indicesa 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.

Parameters:
indicesa 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.

Note:
you shouldn't call this method on unorganized point clouds!
Parameters:
row_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe 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.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setKSearch ( int  k) [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:
[in]kthe number of k-nearest neighbors

Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.

Definition at line 169 of file feature.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setRadiusSearch ( double  radius) [inline, inherited]

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters:
[in]radiusthe sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 180 of file feature.h.

template<typename PointInT, typename PointOutT>
void pcl::Feature< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr &  tree) [inline, inherited]

Provide a pointer to the search object.

Parameters:
[in]treea pointer to the spatial search object.

Definition at line 155 of file feature.h.

template<typename PointInT, typename PointOutT>
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.

Parameters:
[in]clouda pointer to a PointCloud message

Definition at line 140 of file feature.h.

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 252 of file normal_3d.h.

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