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 >:

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

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List of all members.

Public Types
typedef NormalEstimation < PointInT, PointOutT > ::PointCloudOut	PointCloudOut
typedef Feature< PointInT, PointOutT > ::PointCloudConstPtr	PointCloudConstPtr
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 PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	NormalEstimationOMP ()
	Empty constructor.
	NormalEstimationOMP (unsigned int nr_threads)
	Initialize the scheduler and set the number of threads to use.
void	setNumberOfThreads (unsigned int nr_threads)
	Initialize the scheduler and set the number of threads to use.
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.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
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 ()
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::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 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.

template<typename PointInT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudConstPtr pcl::NormalEstimation< PointInT, PointOutT >::PointCloudConstPtr [inherited]

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 206 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

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 NormalEstimation<PointInT, PointOutT>::PointCloudOut pcl::NormalEstimationOMP< PointInT, PointOutT >::PointCloudOut

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

Definition at line 65 of file normal_3d_omp.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.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

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

Empty constructor.

Reimplemented in pcl::NormalEstimationOMP< PointInT, Eigen::MatrixXf >.

Definition at line 69 of file normal_3d_omp.h.

template<typename PointInT, typename PointOutT>

pcl::NormalEstimationOMP< PointInT, PointOutT >::NormalEstimationOMP ( unsigned int nr_threads ) [inline]

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

Parameters:

nr_threads the number of hardware threads to use (-1 sets the value back to automatic)

Reimplemented in pcl::NormalEstimationOMP< PointInT, Eigen::MatrixXf >.

Definition at line 77 of file normal_3d_omp.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] 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::NormalEstimation< PointInT, PointOutT >::computePointNormal	(	const pcl::PointCloud< PointInT > &	cloud,
		const std::vector< int > &	indices,
		Eigen::Vector4f &	plane_parameters,
		float &	curvature
	)		`[inline, inherited]`

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:

cloud	the input point cloud
indices	the point cloud indices that need to be used
plane_parameters	the plane parameters as: a, b, c, d (ax + by + cz + d = 0)
curvature	the estimated surface curvature as a measure of $\lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2)$

Definition at line 231 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, inherited]`

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:

cloud	the input point cloud
indices	the point cloud indices that need to be used
nx	the resultant X component of the plane normal
ny	the resultant Y component of the plane normal
nz	the resultant Z component of the plane normal
curvature	the estimated surface curvature as a measure of $\lambda_0 / (\lambda_0 + \lambda_1 + \lambda_2)$

Definition at line 257 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 ( ) 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::NormalEstimation< PointInT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)		`[inline, inherited]`

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 307 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:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.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::NormalEstimation< PointInT, PointOutT >::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 273 of file normal_3d.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::NormalEstimationOMP< PointInT, PointOutT >::setNumberOfThreads ( unsigned int nr_threads ) [inline]

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

Parameters:

nr_threads the number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 87 of file normal_3d_omp.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::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::NormalEstimation< PointInT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)		`[inline, inherited]`

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 290 of file normal_3d.h.

template<typename PointInT, typename PointOutT>

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

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 319 of file normal_3d.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/normal_3d_omp.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/normal_3d_omp.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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