Point Cloud Library (PCL)  1.9.1
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Modules Pages
normal_3d.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2009, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  * $Id$
35  *
36  */
37 
38 #ifndef PCL_CUDA_NORMAL_3D_H_
39 #define PCL_CUDA_NORMAL_3D_H_
40 
41 #include <pcl/pcl_macros.h>
42 
43 #include <pcl/cuda/common/eigen.h>
44 
45 namespace pcl
46 {
47  namespace cuda
48  {
49 
50  // normal estimation using PCA on neighborhood. DANGER: neighborhood is sampled with a bias!! contact Nico for details :P
51  template <typename InputIteratorT, typename OutputIteratorT, template <typename> class Storage>
52  void computePointNormals (InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const boost::shared_ptr <const PointCloudAOS <Storage> > &input, float radius, int desired_number_neighbors);
53 
54  template <template <typename> class Storage, typename InputIteratorT>
55  boost::shared_ptr<typename Storage<float4>::type> computePointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const boost::shared_ptr <const PointCloudAOS <Storage> > &input, float radius, int desired_number_neighbors);
56 
57  // fast normal computations
58  template <typename OutputIteratorT, template <typename> class Storage>
59  void computeFastPointNormals (OutputIteratorT output, const boost::shared_ptr <const PointCloudAOS <Storage> > &input);
60 
61  template <template <typename> class Storage>
62  boost::shared_ptr<typename Storage<float4>::type> computeFastPointNormals (const boost::shared_ptr <const PointCloudAOS <Storage> > &input);
63 
64  // Weird normal estimation (normal deviations - more of an art project..)
65  template <typename InputIteratorT, typename OutputIteratorT, template <typename> class Storage>
66  void computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const boost::shared_ptr <const PointCloudAOS <Storage> > &input, float radius, int desired_number_neighbors);
67 
68  template <template <typename> class Storage, typename InputIteratorT>
69  boost::shared_ptr<typename Storage<float4>::type> computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const boost::shared_ptr <const PointCloudAOS <Storage> > &input, float radius, int desired_number_neighbors);
70  } // namespace
71 } // namespace
72 
73 #endif
74 
75 
void computePointNormals(InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const boost::shared_ptr< const PointCloudAOS< Storage > > &input, float radius, int desired_number_neighbors)
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void computeWeirdPointNormals(InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const boost::shared_ptr< const PointCloudAOS< Storage > > &input, float radius, int desired_number_neighbors)
void computeFastPointNormals(OutputIteratorT output, const boost::shared_ptr< const PointCloudAOS< Storage > > &input)