NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point. More...

#include <pcl/features/normal_3d.h>

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

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

Public Types
using	Ptr = shared_ptr< NormalEstimation< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const NormalEstimation< PointInT, PointOutT > >

using	PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut

using	PointCloudConstPtr = typename Feature< PointInT, PointOutT >::PointCloudConstPtr

Public Types inherited from pcl::Feature< PointInT, PointOutT >
using	BaseClass = PCLBase< PointInT >

using	Ptr = shared_ptr< Feature< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > >

using	KdTree = pcl::search::Search< PointInT >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< PointOutT >

using	SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	NormalEstimation ()
	Empty constructor. More...

	~NormalEstimation () override=default
	Empty destructor. More...

bool	computePointNormal (const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &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 pcl::Indices &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...

void	setInputCloud (const PointCloudConstPtr &cloud) override
	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...

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 ()=default
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	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[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	computeFeature (PointCloudOut &output) override
	Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...

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 (std::size_t index, double parameter, pcl::Indices &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, std::size_t index, double parameter, pcl::Indices &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...

Protected Attributes
float	vpx_ {0.0f}
	Values describing the viewpoint ("pinhole" camera model assumed). More...

float	vpy_ {0.0f}

float	vpz_ {0.0f}

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_ {true}
	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...

Detailed Description

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

NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point.

If PointOutT is specified as pcl::Normal, the normal is stored in the first 3 components (0-2), and the curvature is stored in component 3.

Note: The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOMP for a parallel implementation.

Author: Radu B. Rusu

Definition at line 243 of file normal_3d.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT >

using pcl::NormalEstimation< PointInT, PointOutT >::ConstPtr = shared_ptr<const NormalEstimation<PointInT, PointOutT> >

Definition at line 247 of file normal_3d.h.

◆ PointCloudConstPtr

template<typename PointInT , typename PointOutT >

using pcl::NormalEstimation< PointInT, PointOutT >::PointCloudConstPtr = typename Feature<PointInT, PointOutT>::PointCloudConstPtr

Definition at line 258 of file normal_3d.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >

using pcl::NormalEstimation< PointInT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 257 of file normal_3d.h.

◆ Ptr

template<typename PointInT , typename PointOutT >

using pcl::NormalEstimation< PointInT, PointOutT >::Ptr = shared_ptr<NormalEstimation<PointInT, PointOutT> >

Definition at line 246 of file normal_3d.h.

Constructor & Destructor Documentation

◆ NormalEstimation()

template<typename PointInT , typename PointOutT >

pcl::NormalEstimation< PointInT, PointOutT >::NormalEstimation ( )

inline

Empty constructor.

Definition at line 261 of file normal_3d.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

◆ ~NormalEstimation()

template<typename PointInT , typename PointOutT >

pcl::NormalEstimation< PointInT, PointOutT >::~NormalEstimation ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointOutT >

void pcl::NormalEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut & output )

overrideprotectedvirtual

Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Note: In situations where not enough neighbors are found, the normal and curvature values are set to NaN.

Parameters

output the resultant point cloud model dataset that contains surface normals and curvatures

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 48 of file normal_3d.hpp.

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

◆ computePointNormal() [1/2]

template<typename PointInT , typename PointOutT >

bool pcl::NormalEstimation< PointInT, PointOutT >::computePointNormal	(	const pcl::PointCloud< PointInT > &	cloud,
		const pcl::Indices &	indices,
		Eigen::Vector4f &	plane_parameters,
		float &	curvature
	)

inline

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 280 of file normal_3d.h.

References pcl::computeMeanAndCovarianceMatrix(), pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_, pcl::solvePlaneParameters(), and pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_.

◆ computePointNormal() [2/2]

template<typename PointInT , typename PointOutT >

bool pcl::NormalEstimation< PointInT, PointOutT >::computePointNormal	(	const pcl::PointCloud< PointInT > &	cloud,
		const pcl::Indices &	indices,
		float &	nx,
		float &	ny,
		float &	nz,
		float &	curvature
	)

inline

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 309 of file normal_3d.h.

References pcl::computeMeanAndCovarianceMatrix(), pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_, pcl::solvePlaneParameters(), and pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_.

◆ getViewPoint()

template<typename PointInT , typename PointOutT >

void pcl::NormalEstimation< 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 362 of file normal_3d.h.

References pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.

◆ setInputCloud()

template<typename PointInT , typename PointOutT >

void pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlineoverride

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 328 of file normal_3d.h.

References pcl::PCLBase< PointInT >::input_, pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_, pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.

Referenced by pcl::UnaryClassifier< PointT >::computeFPFH(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::gpu::DataSource::estimateNormals(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), and pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute().

◆ setViewPoint()

template<typename PointInT , typename PointOutT >

void pcl::NormalEstimation< 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 345 of file normal_3d.h.

References pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_, pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.

◆ useSensorOriginAsViewPoint()

template<typename PointInT , typename PointOutT >

void pcl::NormalEstimation< 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 374 of file normal_3d.h.

References pcl::PCLBase< PointInT >::input_, pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_, pcl::NormalEstimation< PointInT, PointOutT >::vpx_, pcl::NormalEstimation< PointInT, PointOutT >::vpy_, and pcl::NormalEstimation< PointInT, PointOutT >::vpz_.

Member Data Documentation

◆ covariance_matrix_

template<typename PointInT , typename PointOutT >

EIGEN_ALIGN16 Eigen::Matrix3f pcl::NormalEstimation< PointInT, PointOutT >::covariance_matrix_

protected

Placeholder for the 3x3 covariance matrix at each surface patch.

Definition at line 405 of file normal_3d.h.

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

◆ use_sensor_origin_

template<typename PointInT , typename PointOutT >

bool pcl::NormalEstimation< PointInT, PointOutT >::use_sensor_origin_ {true}

protected

whether the sensor origin of the input cloud or a user given viewpoint should be used.

Definition at line 411 of file normal_3d.h.

Referenced by pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().

◆ vpx_

template<typename PointInT , typename PointOutT >

float pcl::NormalEstimation< PointInT, PointOutT >::vpx_ {0.0f}

protected

Values describing the viewpoint ("pinhole" camera model assumed).

For per point viewpoints, inherit from NormalEstimation and provide your own computeFeature (). By default, the viewpoint is set to 0,0,0.

Definition at line 402 of file normal_3d.h.

Referenced by pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().

◆ vpy_

template<typename PointInT , typename PointOutT >

float pcl::NormalEstimation< PointInT, PointOutT >::vpy_ {0.0f}

protected

Definition at line 402 of file normal_3d.h.

Referenced by pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().

◆ vpz_

template<typename PointInT , typename PointOutT >

float pcl::NormalEstimation< PointInT, PointOutT >::vpz_ {0.0f}

protected

Definition at line 402 of file normal_3d.h.

Referenced by pcl::NormalEstimation< PointInT, PointOutT >::getViewPoint(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setViewPoint(), and pcl::NormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint().

◆ xyz_centroid_

template<typename PointInT , typename PointOutT >

Eigen::Vector4f pcl::NormalEstimation< PointInT, PointOutT >::xyz_centroid_

protected

16-bytes aligned placeholder for the XYZ centroid of a surface patch.

Definition at line 408 of file normal_3d.h.

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

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

pcl/features/normal_3d.h
pcl/features/impl/normal_3d.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ NormalEstimation()

◆ ~NormalEstimation()

Member Function Documentation

◆ computeFeature()

◆ computePointNormal() [1/2]

◆ computePointNormal() [2/2]

◆ getViewPoint()

◆ setInputCloud()

◆ setViewPoint()

◆ useSensorOriginAsViewPoint()

Member Data Documentation

◆ covariance_matrix_

◆ use_sensor_origin_

◆ vpx_

◆ vpy_

◆ vpz_

◆ xyz_centroid_

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