Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::NormalEstimationOMP< PointInT, PointOutT > Class Template Reference

NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard. More...

#include <pcl/features/normal_3d_omp.h>

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

Public Types

typedef boost::shared_ptr< NormalEstimationOMP< PointInT, PointOutT > > Ptr
 
typedef boost::shared_ptr< const NormalEstimationOMP< PointInT, PointOutT > > ConstPtr
 
typedef NormalEstimation< PointInT, PointOutT >::PointCloudOut PointCloudOut
 
- Public Types inherited from pcl::NormalEstimation< PointInT, PointOutT >
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 Types inherited from pcl::Feature< PointInT, PointOutT >
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 pcl::PointCloud< PointOutT > PointCloudOut
 
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
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 NormalEstimationOMP (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
- Public Member Functions inherited from pcl::NormalEstimation< PointInT, PointOutT >
 NormalEstimation ()
 Empty constructor. More...
 
virtual ~NormalEstimation ()
 Empty destructor. More...
 
bool 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. More...
 
bool 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. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
void setViewPoint (float vpx, float vpy, float vpz)
 Set the viewpoint. More...
 
void getViewPoint (float &vpx, float &vpy, float &vpz)
 Get the viewpoint. More...
 
void useSensorOriginAsViewPoint ()
 sets whether the sensor origin or a user given viewpoint should be used. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 Feature ()
 Empty constructor. More...
 
virtual ~Feature ()
 Empty destructor. More...
 
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. More...
 
PointCloudInConstPtr getSearchSurface () const
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch () const
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
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 () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual 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. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Attributes

unsigned int threads_
 The number of threads the scheduler should use. More...
 
- Protected Attributes inherited from pcl::NormalEstimation< PointInT, PointOutT >
float vpx_
 Values describing the viewpoint ("pinhole" camera model assumed). More...
 
float vpy_
 
float vpz_
 
EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_
 Placeholder for the 3x3 covariance matrix at each surface patch. More...
 
Eigen::Vector4f xyz_centroid_
 16-bytes aligned placeholder for the XYZ centroid of a surface patch. More...
 
bool use_sensor_origin_
 whether the sensor origin of the input cloud or a user given viewpoint should be used. More...
 
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
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. More...
 
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. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Detailed Description

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

NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard.

Author
Radu Bogdan Rusu

Definition at line 53 of file normal_3d_omp.h.

Member Typedef Documentation

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

Definition at line 57 of file normal_3d_omp.h.

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

Definition at line 70 of file normal_3d_omp.h.

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

Definition at line 56 of file normal_3d_omp.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT >
pcl::NormalEstimationOMP< PointInT, PointOutT >::NormalEstimationOMP ( unsigned int  nr_threads = 0)
inline

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 76 of file normal_3d_omp.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::NormalEstimationOMP< PointInT, PointOutT >::setNumberOfThreads().

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::NormalEstimationOMP< PointInT, PointOutT >::setNumberOfThreads ( unsigned int  nr_threads = 0)

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 48 of file normal_3d_omp.hpp.

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

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

Member Data Documentation

template<typename PointInT , typename PointOutT >
unsigned int pcl::NormalEstimationOMP< PointInT, PointOutT >::threads_
protected

The number of threads the scheduler should use.

Definition at line 91 of file normal_3d_omp.h.


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