Point Cloud Library (PCL)  1.7.1
normal_3d.hpp
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
40 
41 #ifndef PCL_FEATURES_IMPL_NORMAL_3D_H_
42 #define PCL_FEATURES_IMPL_NORMAL_3D_H_
43 
44 #include <pcl/features/normal_3d.h>
45 
46 ///////////////////////////////////////////////////////////////////////////////////////////
47 template <typename PointInT, typename PointOutT> void
49 {
50  // Allocate enough space to hold the results
51  // \note This resize is irrelevant for a radiusSearch ().
52  std::vector<int> nn_indices (k_);
53  std::vector<float> nn_dists (k_);
54 
55  output.is_dense = true;
56  // Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
57  if (input_->is_dense)
58  {
59  // Iterating over the entire index vector
60  for (size_t idx = 0; idx < indices_->size (); ++idx)
61  {
62  if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
63  {
64  output.points[idx].normal[0] = output.points[idx].normal[1] = output.points[idx].normal[2] = output.points[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
65 
66  output.is_dense = false;
67  continue;
68  }
69 
70  computePointNormal (*surface_, nn_indices,
71  output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2], output.points[idx].curvature);
72 
73  flipNormalTowardsViewpoint (input_->points[(*indices_)[idx]], vpx_, vpy_, vpz_,
74  output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2]);
75 
76  }
77  }
78  else
79  {
80  // Iterating over the entire index vector
81  for (size_t idx = 0; idx < indices_->size (); ++idx)
82  {
83  if (!isFinite ((*input_)[(*indices_)[idx]]) ||
84  this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
85  {
86  output.points[idx].normal[0] = output.points[idx].normal[1] = output.points[idx].normal[2] = output.points[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
87 
88  output.is_dense = false;
89  continue;
90  }
91 
92  computePointNormal (*surface_, nn_indices,
93  output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2], output.points[idx].curvature);
94 
95  flipNormalTowardsViewpoint (input_->points[(*indices_)[idx]], vpx_, vpy_, vpz_,
96  output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2]);
97 
98  }
99  }
100 }
101 
102 #define PCL_INSTANTIATE_NormalEstimation(T,NT) template class PCL_EXPORTS pcl::NormalEstimation<T,NT>;
103 
104 #endif // PCL_FEATURES_IMPL_NORMAL_3D_H_