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

#include <pcl/features/integral_image_normal.h>

Inheritance diagram for pcl::IntegralImageNormalEstimation< PointInT, PointOutT >:

Collaboration diagram for pcl::IntegralImageNormalEstimation< PointInT, PointOutT >:

Public Types
enum	BorderPolicy { BORDER_POLICY_IGNORE, BORDER_POLICY_MIRROR }
	Different types of border handling. More...
enum	NormalEstimationMethod { COVARIANCE_MATRIX, AVERAGE_3D_GRADIENT, AVERAGE_DEPTH_CHANGE, SIMPLE_3D_GRADIENT }
	Different normal estimation methods. More...
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	setBorderPolicy (const BorderPolicy border_policy)
	Sets the policy for handling borders.
void	computePointNormal (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal)
	Computes the normal at the specified position.
void	computePointNormalMirror (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal)
	Computes the normal at the specified position with mirroring for border handling.
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)
float *	getDistanceMap ()
	Returns a pointer to the distance map which was computed internally.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
void	useSensorOriginAsViewPoint ()
	sets whether the sensor origin or a user given viewpoint should be used.
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 () const
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used.
double	getSearchParameter () const
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch () const
	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 () const
	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 ()
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::IntegralImageNormalEstimation< PointInT, PointOutT >

Surface normal estimation on organized data using integral images.

Author:: Stefan Holzer

Definition at line 55 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::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]

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]

Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.

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 90 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 >, 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::IntegralImageNormalEstimation< PointInT, PointOutT >::PointCloudOut

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 91 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.

template<typename PointInT, typename PointOutT>

typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr [inherited]

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.

Member Enumeration Documentation

template<typename PointInT , typename PointOutT >

enum pcl::IntegralImageNormalEstimation::BorderPolicy

Different types of border handling.

Enumerator:

BORDER_POLICY_IGNORE
BORDER_POLICY_MIRROR

Definition at line 65 of file integral_image_normal.h.

template<typename PointInT , typename PointOutT >

enum pcl::IntegralImageNormalEstimation::NormalEstimationMethod

Different normal estimation methods.

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.

Enumerator:

COVARIANCE_MATRIX
AVERAGE_3D_GRADIENT
AVERAGE_DEPTH_CHANGE
SIMPLE_3D_GRADIENT

Definition at line 82 of file integral_image_normal.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT >

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

Constructor.

Definition at line 94 of file integral_image_normal.h.

template<typename PointInT , typename PointOutT >

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

Destructor.

Definition at line 46 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:

[out] output the resultant point cloud model dataset containing the estimated features

Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::RangeImageBorderExtractor, pcl::ESFEstimation< PointInT, PointOutT >, and pcl::NarfDescriptor.

Definition at line 188 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] output the resultant point cloud model dataset containing the estimated features

Reimplemented in pcl::SHOTColorEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >.

Definition at line 224 of file feature.hpp.

template<typename PointInT , typename PointOutT >

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.

Parameters:

[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 207 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computePointNormalMirror	(	const int	pos_x,
		const int	pos_y,
		const unsigned	point_index,
		PointOutT &	normal
	)

Computes the normal at the specified position with mirroring for border handling.

Parameters:

[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 504 of file integral_image_normal.hpp.

template<typename PointInT , typename PointOutT >

float* pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::getDistanceMap ( ) [inline]

Returns a pointer to the distance map which was computed internally.

Definition at line 238 of file integral_image_normal.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 ( ) const [inline, inherited]

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

Definition at line 186 of file feature.h.

template<typename PointInT, typename PointOutT>

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

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

template<typename PointInT, typename PointOutT>

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

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

template<typename PointInT, typename PointOutT>

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

Get the internal search parameter.

Definition at line 173 of file feature.h.

template<typename PointInT, typename PointOutT>

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

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)		`[inline]`

Get the viewpoint.

Parameters:

[out]	vpx	x-coordinate of the view point
[out]	vpy	y-coordinate of the view point
[out]	vpz	z-coordinate of the view point

Note:: this method returns the currently used viewpoint for normal flipping. If the viewpoint is set manually using the setViewPoint method, this method will return the set view point coordinates. If an input cloud is set, it will return the sensor origin otherwise it will return the origin (0, 0, 0)

Definition at line 266 of file integral_image_normal.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 197 of file pcl_base.h.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setBorderPolicy ( const BorderPolicy border_policy ) [inline]

Sets the policy for handling borders.

Parameters:

[in] border_policy the border policy.

Definition at line 139 of file integral_image_normal.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:

[in] use_depth_dependent_smoothing decides whether the smoothing is depth dependent

Definition at line 204 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 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:

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.

Parameters:

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.

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 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:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 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:

[in] cloud the const boost shared pointer to a PointCloud message

Definition at line 213 of file integral_image_normal.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] k the number of k-nearest neighbors

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

Definition at line 182 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:

[in] max_depth_change_factor the depth change threshold for computing object borders based on depth changes

Definition at line 167 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:

[in] normal_estimation_method the method used for normal estimation

Definition at line 195 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:

[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 177 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:

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

Definition at line 196 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:

[in]	width	the width of the search rectangle
[in]	height	the height of the search rectangle

Definition at line 93 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:

[in] tree a pointer to the spatial search object.

Definition at line 162 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] cloud a pointer to a PointCloud message

Definition at line 144 of file feature.h.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)		`[inline]`

Set the viewpoint.

Parameters:

vpx	the X coordinate of the viewpoint
vpy	the Y coordinate of the viewpoint
vpz	the Z coordinate of the viewpoint

Definition at line 249 of file integral_image_normal.h.

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint ( ) [inline]

sets whether the sensor origin or a user given viewpoint should be used.

After this method, the normal estimation method uses the sensor origin of the input cloud. to use a user defined view point, use the method setViewPoint

Definition at line 278 of file integral_image_normal.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/features/include/pcl/features/integral_image_normal.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/integral_image_normal.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

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