Normal vector refinement class More...
#include <pcl/filters/normal_refinement.h>
Public Member Functions |
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| NormalRefinement () | |
| Empty constructor, sets default convergence parameters. More... |
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| NormalRefinement (const std::vector< Indices > &k_indices, const std::vector< std::vector< float > > &k_sqr_distances) | |
| Constructor for setting correspondences, sets default convergence parameters. More... |
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| void | setCorrespondences (const std::vector< Indices > &k_indices, const std::vector< std::vector< float > > &k_sqr_distances) |
| Set correspondences calculated from nearest neighbor search. More... |
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| void | getCorrespondences (std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) |
| Get correspondences (copy) More... |
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| void | setMaxIterations (unsigned int max_iterations) |
| Set maximum iterations. More... |
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| unsigned int | getMaxIterations () |
| Get maximum iterations. More... |
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| void | setConvergenceThreshold (float convergence_threshold) |
| Set convergence threshold. More... |
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| float | getConvergenceThreshold () |
| Get convergence threshold. More... |
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 Public Member Functions inherited from pcl::Filter< NormalT > |
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| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| const IndicesConstPtr | getRemovedIndices () const |
| Get the point indices being removed. More... |
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| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
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| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
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| Public Member Functions inherited from pcl::PCLBase< NormalT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const NormalT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | applyFilter (PointCloud &output) override |
| Filter a Point Cloud. More... |
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| Protected Member Functions inherited from pcl::Filter< NormalT > |
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| virtual void | applyFilter (PointCloud &output)=0 |
| Abstract filter method. More... |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Protected Member Functions inherited from pcl::PCLBase< NormalT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Additional Inherited Members |
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| Public Types inherited from pcl::Filter< NormalT > |
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| using | Ptr = shared_ptr< Filter< NormalT > > |
| using | ConstPtr = shared_ptr< const Filter< NormalT > > |
| using | PointCloud = pcl::PointCloud< NormalT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| Public Types inherited from pcl::PCLBase< NormalT > |
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| using | PointCloud = pcl::PointCloud< NormalT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
| Protected Attributes inherited from pcl::Filter< NormalT > |
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| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
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| std::string | filter_name_ |
| The filter name. More... |
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| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
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| Protected Attributes inherited from pcl::PCLBase< NormalT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename NormalT>
class pcl::NormalRefinement< NormalT >
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.
- Note
- This class avoids points for which a NaN is encountered in the neighborhood. In the special case where a point has only NaNs in its neighborhood, the resultant refined normal will be set to zero, i.e. this class only produces finite normals.
Usage example:
Definition at line 190 of file normal_refinement.h.
Constructor & Destructor Documentation
NormalRefinement() [1/2]
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inline |
Empty constructor, sets default convergence parameters.
Definition at line 203 of file normal_refinement.h.
References pcl::Filter< NormalT >::filter_name_, pcl::NormalRefinement< NormalT >::setConvergenceThreshold(), and pcl::NormalRefinement< NormalT >::setMaxIterations().
NormalRefinement() [2/2]
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inline |
Constructor for setting correspondences, sets default convergence parameters.
- Parameters
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k_indices indices of neighboring points k_sqr_distances squared distances to the neighboring points
Definition at line 215 of file normal_refinement.h.
References pcl::Filter< NormalT >::filter_name_, pcl::NormalRefinement< NormalT >::setConvergenceThreshold(), pcl::NormalRefinement< NormalT >::setCorrespondences(), and pcl::NormalRefinement< NormalT >::setMaxIterations().
Member Function Documentation
applyFilter()
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overrideprotected |
Filter a Point Cloud.
- Parameters
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output the resultant point cloud message
Definition at line 48 of file normal_refinement.hpp.
References pcl::refineNormal().
getConvergenceThreshold()
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inline |
Get convergence threshold.
- Returns
- convergence threshold
Definition at line 277 of file normal_refinement.h.
getCorrespondences()
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inline |
Get correspondences (copy)
- Parameters
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k_indices indices of neighboring points k_sqr_distances squared distances to the neighboring points
Definition at line 240 of file normal_refinement.h.
getMaxIterations()
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inline |
Get maximum iterations.
- Returns
- maximum iterations
Definition at line 259 of file normal_refinement.h.
setConvergenceThreshold()
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inline |
Set convergence threshold.
- Parameters
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convergence_threshold convergence threshold
Definition at line 268 of file normal_refinement.h.
Referenced by pcl::NormalRefinement< NormalT >::NormalRefinement().
setCorrespondences()
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inline |
Set correspondences calculated from nearest neighbor search.
- Parameters
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k_indices indices of neighboring points k_sqr_distances squared distances to the neighboring points
Definition at line 229 of file normal_refinement.h.
Referenced by pcl::NormalRefinement< NormalT >::NormalRefinement().
setMaxIterations()
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inline |
Set maximum iterations.
- Parameters
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max_iterations maximum iterations
Definition at line 250 of file normal_refinement.h.
Referenced by pcl::NormalRefinement< NormalT >::NormalRefinement().
The documentation for this class was generated from the following files:
- pcl/filters/normal_refinement.h
- pcl/filters/impl/normal_refinement.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_normal_refinement.html
