PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of principal surface curvatures for a given point cloud dataset containing points and normals. More...

#include <pcl/features/principal_curvatures.h>

Inheritance diagram for pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >:

Collaboration diagram for pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >:

Public Types
using	Ptr = shared_ptr< PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT > >

using	ConstPtr = shared_ptr< const PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT > >

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

using	PointCloudIn = pcl::PointCloud< PointInT >

Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures >
using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures > >

using	ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures > >

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
	PrincipalCurvaturesEstimation (unsigned int nr_threads=1, int chunk_size=256)
	Initialize the scheduler and set the number of threads to use. More...

void	computePointPrincipalCurvatures (const pcl::PointCloud< PointNT > &normals, int p_idx, const pcl::Indices &indices, float &pcx, float &pcy, float &pcz, float &pc1, float &pc2)
	Perform Principal Components Analysis (PCA) on the point normals of a surface patch in the tangent plane of the given point normal, and return the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) and min (pc2) eigenvalues. More...

void	setNumberOfThreads (unsigned int nr_threads)
	Initialize the scheduler and set the number of threads to use. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures >
	FeatureFromNormals ()
	Empty constructor. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset. 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 the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) and min (pc2) eigenvalues 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::FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures >
virtual bool	initCompute ()
	This method should get called before starting the actual computation. 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	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
unsigned int	threads_
	The number of threads the scheduler should use. More...

int	chunk_size_
	Chunk size for (dynamic) scheduling. More...

Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::PrincipalCurvatures >
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. 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 PointNT, typename PointOutT = pcl::PrincipalCurvatures>
class pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >

PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of principal surface curvatures for a given point cloud dataset containing points and normals.

The output contains the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) and min (pc2) eigenvalues. Parallel execution is supported through OpenMP.

The recommended PointOutT is pcl::PrincipalCurvatures.

Author: Radu B. Rusu, Jared Glover, Alex Navarro

Definition at line 58 of file principal_curvatures.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PrincipalCurvatures>

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

Definition at line 62 of file principal_curvatures.h.

◆ PointCloudIn

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PrincipalCurvatures>

using pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 73 of file principal_curvatures.h.

◆ PointCloudOut

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PrincipalCurvatures>

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

Definition at line 72 of file principal_curvatures.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PrincipalCurvatures>

using pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT> >

Definition at line 61 of file principal_curvatures.h.

Constructor & Destructor Documentation

◆ PrincipalCurvaturesEstimation()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PrincipalCurvatures>

pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::PrincipalCurvaturesEstimation	(	unsigned int	nr_threads = `1`,
		int	chunk_size = `256`
	)

inline

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

Parameters

nr_threads	the number of hardware threads to use (0 sets the value to automatic)
chunk_size	PCL will use dynamic scheduling with this chunk size. Setting it too low will lead to more parallelization overhead. Setting it too high will lead to a worse balancing between the threads.

Definition at line 81 of file principal_curvatures.h.

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

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointNT , typename PointOutT >

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

overrideprotectedvirtual

Estimate the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) and min (pc2) eigenvalues 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 that contains the principal curvature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 129 of file principal_curvatures.hpp.

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

◆ computePointPrincipalCurvatures()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::computePointPrincipalCurvatures	(	const pcl::PointCloud< PointNT > &	normals,
		int	p_idx,
		const pcl::Indices &	indices,
		float &	pcx,
		float &	pcy,
		float &	pcz,
		float &	pc1,
		float &	pc2
	)

Perform Principal Components Analysis (PCA) on the point normals of a surface patch in the tangent plane of the given point normal, and return the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) and min (pc2) eigenvalues.

Parameters

[in]	normals	the point cloud normals
[in]	p_idx	the query point at which the least-squares plane was estimated
[in]	indices	the point cloud indices that need to be used
[out]	pcx	the principal curvature X direction
[out]	pcy	the principal curvature Y direction
[out]	pcz	the principal curvature Z direction
[out]	pc1	the max eigenvalue of curvature
[out]	pc2	the min eigenvalue of curvature

Definition at line 66 of file principal_curvatures.hpp.

References pcl::computeCorrespondingEigenVector(), and pcl::eigen33().

◆ setNumberOfThreads()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::setNumberOfThreads ( unsigned int nr_threads )

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

The default behavior is single threaded exectution

Parameters

nr_threads the number of hardware threads to use (0 sets the value to automatic)

Definition at line 49 of file principal_curvatures.hpp.

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

Member Data Documentation

◆ chunk_size_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PrincipalCurvatures>

int pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::chunk_size_

protected

Chunk size for (dynamic) scheduling.

Definition at line 118 of file principal_curvatures.h.

◆ threads_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PrincipalCurvatures>

unsigned int pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::threads_

protected

The number of threads the scheduler should use.

Definition at line 115 of file principal_curvatures.h.

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

pcl/features/principal_curvatures.h
pcl/features/impl/principal_curvatures.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PrincipalCurvatures> class pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ PrincipalCurvaturesEstimation()

Member Function Documentation

◆ computeFeature()

◆ computePointPrincipalCurvatures()

◆ setNumberOfThreads()

Member Data Documentation

◆ chunk_size_

◆ threads_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PrincipalCurvatures>
class pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >