Public Types | Public Member Functions

pcl::IntegralImageNormalEstimation< PointInT, PointOutT > Class Template Reference

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

#include <pcl/features/integral_image_normal.h>

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List of all members.

Public Types

enum  NormalEstimationMethod { COVARIANCE_MATRIX, AVERAGE_3D_GRADIENT, AVERAGE_DEPTH_CHANGE }
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, 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 ().
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 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::IntegralImageNormalEstimation< PointInT, PointOutT >

Surface normal estimation on dense data using integral images.

Author:
Stefan Holzer

Definition at line 54 of file integral_image_normal.h.


Member Typedef Documentation

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

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

Definition at line 103 of file feature.h.

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

Definition at line 108 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 109 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Reimplemented in pcl::ConcaveHull< PointInT >, and pcl::ConvexHull< PointInT >.

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::ConcaveHull< PointInT >, and pcl::ConvexHull< PointInT >.

Definition at line 76 of file pcl_base.h.

template<typename PointInT , typename PointOutT >
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.

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

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

Definition at line 113 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 >.

Definition at line 112 of file feature.h.

template<typename PointInT , typename PointOutT >
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]
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]
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 117 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 118 of file feature.h.


Member Enumeration Documentation

template<typename PointInT , typename PointOutT >
enum pcl::IntegralImageNormalEstimation::NormalEstimationMethod
Enumerator:
COVARIANCE_MATRIX 
AVERAGE_3D_GRADIENT 
AVERAGE_DEPTH_CHANGE 

Definition at line 63 of file integral_image_normal.h.


Constructor & Destructor Documentation

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

Constructor.

Definition at line 74 of file integral_image_normal.h.

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

Destructor.

Definition at line 44 of file integral_image_normal.hpp.


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:
output the resultant point cloud model dataset containing the estimated features

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

Definition at line 249 of file feature.hpp.

template<typename PointInT , typename PointOutT >
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computePointNormal ( const int  pos_x,
const int  pos_y,
PointOutT &  normal 
)

Computes the normal at the specified position.

Parameters:
pos_x x position (pixel)
pos_y y position (pixel)
normal the output estimated normal

Definition at line 181 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 171 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 99 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 166 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 177 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 152 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 156 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 142 of file feature.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:
pos position in indices_ vector

Definition at line 178 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:
index the index of the query point
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 196 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:
cloud the query point cloud
index the index of the query point in cloud
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 215 of file feature.h.

template<typename PointInT , typename PointOutT >
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setDepthDependentSmoothing ( bool  use_depth_dependent_smoothing  )  [inline]

Set whether to use depth depending smoothing or not.

Parameters:
use_depth_dependent_smoothing decides whether the smoothing is depth dependent

Definition at line 151 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.

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

Definition at line 105 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_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 132 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:
indices a pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

template<typename PointInT , typename PointOutT >
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).

Parameters:
cloud the const boost shared pointer to a PointCloud message

Definition at line 160 of file integral_image_normal.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr cloud  )  [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:
cloud the const boost shared pointer to a PointCloud message

Definition at line 95 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:
k the number of k-nearest neighbors

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

Definition at line 162 of file feature.h.

template<typename PointInT , typename PointOutT >
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setMaxDepthChangeFactor ( float  max_depth_change_factor  )  [inline]

The depth change threshold for computing object borders.

Parameters:
max_depth_change_factor the depth change threshold for computing object borders based on depth changes

Definition at line 114 of file integral_image_normal.h.

template<typename PointInT , typename PointOutT >
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod ( NormalEstimationMethod  normal_estimation_method  )  [inline]

Set the normal estimation method.

The current implemented algorithms are:

  • COVARIANCE_MATRIX - creates 9 integral images to compute the normal for a specific point from the covariance matrix of its local neighborhood.
  • AVERAGE_3D_GRADIENT - creates 6 integral images to compute smoothed versions of horizontal and vertical 3D gradients and computes the normals using the cross-product between these two gradients.
  • AVERAGE_DEPTH_CHANGE - creates only a single integral image and computes the normals from the average depth changes.
Parameters:
normal_estimation_method the method used for normal estimation

Definition at line 142 of file integral_image_normal.h.

template<typename PointInT , typename PointOutT >
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize ( float  normal_smoothing_size  )  [inline]

Set the normal smoothing size.

Parameters:
normal_smoothing_size factor which influences the size of the area used to smooth normals (depth dependent if useDepthDependentSmoothing is true)

Definition at line 124 of file integral_image_normal.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:
radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 173 of file feature.h.

template<typename PointInT , typename PointOutT >
void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setRectSize ( const int  width,
const int  height 
)

Set the regions size which is considered for normal estimation.

Parameters:
width the width of the search rectangle
height the height of the search rectangle

Definition at line 79 of file integral_image_normal.hpp.

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

Provide a pointer to the search object.

Parameters:
tree a pointer to the spatial search object.

Definition at line 148 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:
cloud a pointer to a PointCloud message

Definition at line 133 of file feature.h.


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