Point Cloud Library (PCL)
1.9.1
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Normal vector refinement class More...
#include <pcl/filters/normal_refinement.h>
Public Member Functions | |
NormalRefinement () | |
Empty constructor, sets default convergence parameters. More... | |
NormalRefinement (const std::vector< std::vector< int > > &k_indices, const std::vector< std::vector< float > > &k_sqr_distances) | |
Constructor for setting correspondences, sets default convergence parameters. More... | |
void | setCorrespondences (const std::vector< std::vector< int > > &k_indices, const std::vector< std::vector< float > > &k_sqr_distances) |
Set correspondences calculated from nearest neighbor search. More... | |
void | getCorrespondences (std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) |
Get correspondences (copy) More... | |
void | setMaxIterations (unsigned int max_iterations) |
Set maximum iterations. More... | |
unsigned int | getMaxIterations () |
Get maximum iterations. More... | |
void | setConvergenceThreshold (float convergence_threshold) |
Set convergence threshold. More... | |
float | getConvergenceThreshold () |
Get convergence threshold. More... | |
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Filter (bool extract_removed_indices=false) | |
Empty constructor. More... | |
virtual | ~Filter () |
Empty destructor. More... | |
IndicesConstPtr const | getRemovedIndices () const |
Get the point indices being removed. More... | |
void | getRemovedIndices (PointIndices &pi) |
Get the point indices being removed. More... | |
void | filter (PointCloud &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
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 (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. More... | |
IndicesPtr const | 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 NormalT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | applyFilter (PointCloud &output) |
Filter a Point Cloud. More... | |
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virtual void | applyFilter (PointCloud &output)=0 |
Abstract filter method. More... | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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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... | |
Additional Inherited Members | |
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typedef boost::shared_ptr < Filter< NormalT > > | Ptr |
typedef boost::shared_ptr < const Filter< NormalT > > | ConstPtr |
typedef pcl::PointCloud< NormalT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef pcl::PointCloud< NormalT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
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IndicesPtr | removed_indices_ |
Indices of the points that are removed. More... | |
std::string | filter_name_ |
The filter name. More... | |
bool | extract_removed_indices_ |
Set to true if we want to return the indices of the removed points. More... | |
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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... | |
Normal vector refinement class
This class refines a set of already estimated normals by iteratively updating each normal to the (weighted) mean of all normals in its neighborhood. The intention is that you reuse the same point correspondences as used when estimating the original normals in order to avoid repeating a nearest neighbor search.
Usage example:
Definition at line 188 of file normal_refinement.h.
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inline |
Empty constructor, sets default convergence parameters.
Definition at line 201 of file normal_refinement.h.
References pcl::Filter< NormalT >::filter_name_, pcl::NormalRefinement< NormalT >::setConvergenceThreshold(), and pcl::NormalRefinement< NormalT >::setMaxIterations().
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inline |
Constructor for setting correspondences, sets default convergence parameters.
k_indices | indices of neighboring points |
k_sqr_distances | squared distances to the neighboring points |
Definition at line 213 of file normal_refinement.h.
References pcl::Filter< NormalT >::filter_name_, pcl::NormalRefinement< NormalT >::setConvergenceThreshold(), pcl::NormalRefinement< NormalT >::setCorrespondences(), and pcl::NormalRefinement< NormalT >::setMaxIterations().
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protected |
Filter a Point Cloud.
output | the resultant point cloud message |
Definition at line 48 of file normal_refinement.hpp.
References pcl::refineNormal().
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inline |
Get convergence threshold.
Definition at line 275 of file normal_refinement.h.
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inline |
Get correspondences (copy)
k_indices | indices of neighboring points |
k_sqr_distances | squared distances to the neighboring points |
Definition at line 238 of file normal_refinement.h.
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inline |
Get maximum iterations.
Definition at line 257 of file normal_refinement.h.
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inline |
Set convergence threshold.
convergence_threshold | convergence threshold |
Definition at line 266 of file normal_refinement.h.
Referenced by pcl::NormalRefinement< NormalT >::NormalRefinement().
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inline |
Set correspondences calculated from nearest neighbor search.
k_indices | indices of neighboring points |
k_sqr_distances | squared distances to the neighboring points |
Definition at line 227 of file normal_refinement.h.
Referenced by pcl::NormalRefinement< NormalT >::NormalRefinement().
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inline |
Set maximum iterations.
max_iterations | maximum iterations |
Definition at line 248 of file normal_refinement.h.
Referenced by pcl::NormalRefinement< NormalT >::NormalRefinement().