Point Cloud Library (PCL)  1.13.0-dev
normal_3d.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_macros.h>
41 
42 #include <pcl/cuda/common/eigen.h>
43 
44 namespace pcl
45 {
46  namespace cuda
47  {
48 
49  // normal estimation using PCA on neighborhood. DANGER: neighborhood is sampled with a bias!! contact Nico for details :P
50  template <typename InputIteratorT, typename OutputIteratorT, template <typename> class Storage>
51  void computePointNormals (InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS<Storage>::ConstPtr &input, float radius, int desired_number_neighbors);
52 
53  template <template <typename> class Storage, typename InputIteratorT>
54  shared_ptr<typename Storage<float4>::type> computePointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const typename PointCloudAOS<Storage>::ConstPtr &input, float radius, int desired_number_neighbors);
55 
56  // fast normal computations
57  template <typename OutputIteratorT, template <typename> class Storage>
58  void computeFastPointNormals (OutputIteratorT output, const typename PointCloudAOS<Storage>::ConstPtr &input);
59 
60  template <template <typename> class Storage>
61  shared_ptr<typename Storage<float4>::type> computeFastPointNormals (const typename PointCloudAOS<Storage>::ConstPtr &input);
62 
63  // Weird normal estimation (normal deviations - more of an art project..)
64  template <typename InputIteratorT, typename OutputIteratorT, template <typename> class Storage>
65  void computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS<Storage>::ConstPtr &input, float radius, int desired_number_neighbors);
66 
67  template <template <typename> class Storage, typename InputIteratorT>
68  shared_ptr<typename Storage<float4>::type> computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const typename PointCloudAOS<Storage>::ConstPtr &input, float radius, int desired_number_neighbors);
69  } // namespace
70 } // namespace
shared_ptr< const PointCloudAOS< Storage > > ConstPtr
Definition: point_cloud.h:200
void computeWeirdPointNormals(InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS< Storage >::ConstPtr &input, float radius, int desired_number_neighbors)
void computePointNormals(InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS< Storage >::ConstPtr &input, float radius, int desired_number_neighbors)
void computeFastPointNormals(OutputIteratorT output, const typename PointCloudAOS< Storage >::ConstPtr &input)
Defines all the PCL and non-PCL macros used.