Surface normal estimation on organized data using integral images. More...

#include <pcl/features/integral_image_normal.h>

Inheritance diagram for pcl::IntegralImageNormalEstimation< PointInT, PointOutT >:

Collaboration diagram for pcl::IntegralImageNormalEstimation< PointInT, PointOutT >:

Public Types
enum	BorderPolicy { BORDER_POLICY_IGNORE , BORDER_POLICY_MIRROR }
	Different types of border handling. More...

enum	NormalEstimationMethod { COVARIANCE_MATRIX , AVERAGE_3D_GRADIENT , AVERAGE_DEPTH_CHANGE , SIMPLE_3D_GRADIENT }
	Different normal estimation methods. More...

using	Ptr = shared_ptr<IntegralImageNormalEstimation<PointInT, PointOutT> >

using	ConstPtr = shared_ptr<const IntegralImageNormalEstimation<PointInT, PointOutT> >

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

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

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

using	PointCloudPtr

using	PointCloudConstPtr

using	PointIndicesPtr

using	PointIndicesConstPtr

Public Member Functions
	IntegralImageNormalEstimation ()
	Constructor.

	~IntegralImageNormalEstimation ()
	Destructor.

void	setRectSize (const int width, const int height)
	Set the regions size which is considered for normal estimation.

void	setBorderPolicy (const BorderPolicy border_policy)
	Sets the policy for handling borders.

void	computePointNormal (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal)
	Computes the normal at the specified position.

void	computePointNormalMirror (const int pos_x, const int pos_y, const unsigned point_index, PointOutT &normal)
	Computes the normal at the specified position with mirroring for border handling.

void	setMaxDepthChangeFactor (float max_depth_change_factor)
	The depth change threshold for computing object borders.

void	setNormalSmoothingSize (float normal_smoothing_size)
	Set the normal smoothing size.

void	setNormalEstimationMethod (NormalEstimationMethod normal_estimation_method)
	Set the normal estimation method.

void	setDepthDependentSmoothing (bool use_depth_dependent_smoothing)
	Set whether to use depth depending smoothing or not.

void	setInputCloud (const typename PointCloudIn::ConstPtr &cloud) override
	Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)

float *	getDistanceMap ()
	Returns a pointer to the distance map which was computed internally.

void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.

void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.

void	useSensorOriginAsViewPoint ()
	sets whether the sensor origin or a user given viewpoint should be used.

Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
	Feature ()
	Empty constructor.

virtual	~Feature ()
	Empty destructor.

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.

PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset.

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.

KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used.

double	getSearchParameter () const
	Get the internal search parameter.

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.

int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation.

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors.

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 ()

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.

	PCLBase (const PCLBase &base)
	Copy constructor.

virtual	~PCLBase ()=default
	Destructor.

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

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.

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
void	computeFeature (PointCloudOut &output) override
	Computes the normal for the complete cloud or only indices_ if provided.

void	computeFeatureFull (const float *distance_map, const float &bad_point, PointCloudOut &output)
	Computes the normal for the complete cloud.

void	computeFeaturePart (const float *distance_map, const float &bad_point, PointCloudOut &output)
	Computes the normal for part of the cloud specified by indices_.

void	initData ()
	Initialize the data structures, based on the normal estimation method chosen.

Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class.

virtual bool	deinitCompute ()
	This method should get called after ending the actual computation.

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.

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.

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation.

bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Additional Inherited Members
Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string	feature_name_
	The feature name.

SearchMethodSurface	search_method_surface_
	The search method template for points.

PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation.

KdTreePtr	tree_
	A pointer to the spatial search object.

double	search_parameter_
	The actual search parameter (from either search_radius_ or k_).

double	search_radius_
	The nearest neighbors search radius for each point.

int	k_
	The number of K nearest neighbors to use for each point.

bool	fake_surface_
	If no surface is given, we use the input PointCloud as the surface.

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::IntegralImageNormalEstimation< PointInT, PointOutT >

Surface normal estimation on organized data using integral images.

  For detailed information about this method see:

  S. Holzer and R. B. Rusu and M. Dixon and S. Gedikli and N. Navab, 
  Adaptive Neighborhood Selection for Real-Time Surface Normal Estimation 
  from Organized Point Cloud Data Using Integral Images, IROS 2012.

  D. Holz, S. Holzer, R. B. Rusu, and S. Behnke (2011, July). 
  Real-Time Plane Segmentation using RGB-D Cameras. In Proceedings of 
  the 15th RoboCup International Symposium, Istanbul, Turkey.
  http://www.ais.uni-bonn.de/~holz/papers/holz_2011_robocup.pdf

Author: Stefan Holzer

Definition at line 65 of file integral_image_normal.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT >

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

Definition at line 75 of file integral_image_normal.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT >

using pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 103 of file integral_image_normal.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >

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

Definition at line 104 of file integral_image_normal.h.

◆ Ptr

template<typename PointInT , typename PointOutT >

using pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::Ptr = shared_ptr<IntegralImageNormalEstimation<PointInT, PointOutT> >

Definition at line 74 of file integral_image_normal.h.

Member Enumeration Documentation

◆ BorderPolicy

template<typename PointInT , typename PointOutT >

enum pcl::IntegralImageNormalEstimation::BorderPolicy

Different types of border handling.

Enumerator
BORDER_POLICY_IGNORE
BORDER_POLICY_MIRROR

Definition at line 78 of file integral_image_normal.h.

◆ NormalEstimationMethod

template<typename PointInT , typename PointOutT >

enum pcl::IntegralImageNormalEstimation::NormalEstimationMethod

Different normal estimation methods.

COVARIANCE_MATRIX - creates 9 integral images to compute the normal for a specific point from the covariance matrix of its local neighborhood.
AVERAGE_3D_GRADIENT - creates 6 integral images to compute smoothed versions of horizontal and vertical 3D gradients and computes the normals using the cross-product between these two gradients.
AVERAGE_DEPTH_CHANGE - creates only a single integral image and computes the normals from the average depth changes.

Enumerator
COVARIANCE_MATRIX
AVERAGE_3D_GRADIENT
AVERAGE_DEPTH_CHANGE
SIMPLE_3D_GRADIENT

Definition at line 95 of file integral_image_normal.h.

Constructor & Destructor Documentation

◆ IntegralImageNormalEstimation()

template<typename PointInT , typename PointOutT >

pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::IntegralImageNormalEstimation ( )

inline

Constructor.

Definition at line 107 of file integral_image_normal.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::Feature< PointInT, PointOutT >::k_, and pcl::Feature< PointInT, PointOutT >::tree_.

◆ ~IntegralImageNormalEstimation()

template<typename PointInT , typename PointOutT >

pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::~IntegralImageNormalEstimation ( )

Destructor.

Definition at line 46 of file integral_image_normal.hpp.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointOutT >

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

overrideprotectedvirtual

Computes the normal for the complete cloud or only indices_ if provided.

Parameters

[out] output the resultant normals

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 731 of file integral_image_normal.hpp.

◆ computeFeatureFull()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computeFeatureFull	(	const float *	distance_map,
		const float &	bad_point,
		PointCloudOut &	output )

protected

Computes the normal for the complete cloud.

Parameters

[in]	distance_map	distance map
[in]	bad_point	constant given to invalid normal components
[out]	output	the resultant normals

Definition at line 838 of file integral_image_normal.hpp.

References pcl::computePointNormal().

◆ computeFeaturePart()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computeFeaturePart	(	const float *	distance_map,
		const float &	bad_point,
		PointCloudOut &	output )

protected

Computes the normal for part of the cloud specified by indices_.

Parameters

[in]	distance_map	distance map
[in]	bad_point	constant given to invalid normal components
[out]	output	the resultant normals

Definition at line 1025 of file integral_image_normal.hpp.

References pcl::computePointNormal().

◆ computePointNormal()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computePointNormal	(	const int	pos_x,
		const int	pos_y,
		const unsigned	point_index,
		PointOutT &	normal )

Computes the normal at the specified position.

Parameters

[in]	pos_x	x position (pixel)
[in]	pos_y	y position (pixel)
[in]	point_index	the position index of the point
[out]	normal	the output estimated normal

Definition at line 207 of file integral_image_normal.hpp.

References pcl::eigen33(), pcl::flipNormalTowardsViewpoint(), and pcl::IntegralImage2D< DataType, Dimension >::getSecondOrderSum().

◆ computePointNormalMirror()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::computePointNormalMirror	(	const int	pos_x,
		const int	pos_y,
		const unsigned	point_index,
		PointOutT &	normal )

Computes the normal at the specified position with mirroring for border handling.

Parameters

[in]	pos_x	x position (pixel)
[in]	pos_y	y position (pixel)
[in]	point_index	the position index of the point
[out]	normal	the output estimated normal

Definition at line 462 of file integral_image_normal.hpp.

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

◆ getDistanceMap()

template<typename PointInT , typename PointOutT >

float * pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::getDistanceMap ( )

inline

Returns a pointer to the distance map which was computed internally.

Definition at line 257 of file integral_image_normal.h.

◆ getViewPoint()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz )

inline

Get the viewpoint.

Parameters

[out]	vpx	x-coordinate of the view point
[out]	vpy	y-coordinate of the view point
[out]	vpz	z-coordinate of the view point

Note: this method returns the currently used viewpoint for normal flipping. If the viewpoint is set manually using the setViewPoint method, this method will return the set view point coordinates. If an input cloud is set, it will return the sensor origin otherwise it will return the origin (0, 0, 0)

Definition at line 285 of file integral_image_normal.h.

◆ initData()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initData ( )

protected

Initialize the data structures, based on the normal estimation method chosen.

Definition at line 56 of file integral_image_normal.hpp.

Referenced by pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud().

◆ setBorderPolicy()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setBorderPolicy ( const BorderPolicy border_policy )

inline

Sets the policy for handling borders.

Parameters

[in] border_policy the border policy.

Definition at line 152 of file integral_image_normal.h.

◆ setDepthDependentSmoothing()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setDepthDependentSmoothing ( bool use_depth_dependent_smoothing )

inline

Set whether to use depth depending smoothing or not.

Parameters

[in] use_depth_dependent_smoothing decides whether the smoothing is depth dependent

Definition at line 223 of file integral_image_normal.h.

◆ setInputCloud()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud ( const typename PointCloudIn::ConstPtr & cloud )

inlineoverride

Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)

Parameters

[in] cloud the const boost shared pointer to a PointCloud message

Definition at line 232 of file integral_image_normal.h.

References pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::initData(), and pcl::PCLBase< PointInT >::input_.

Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().

◆ setMaxDepthChangeFactor()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setMaxDepthChangeFactor ( float max_depth_change_factor )

inline

The depth change threshold for computing object borders.

Parameters

[in] max_depth_change_factor the depth change threshold for computing object borders based on depth changes

Definition at line 180 of file integral_image_normal.h.

◆ setNormalEstimationMethod()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod ( NormalEstimationMethod normal_estimation_method )

inline

Set the normal estimation method.

The current implemented algorithms are:

COVARIANCE_MATRIX - creates 9 integral images to compute the normal for a specific point from the covariance matrix of its local neighborhood.
AVERAGE_3D_GRADIENT - creates 6 integral images to compute smoothed versions of horizontal and vertical 3D gradients and computes the normals using the cross-product between these two gradients.
AVERAGE_DEPTH_CHANGE - creates only a single integral image and computes the normals from the average depth changes.

Parameters

[in] normal_estimation_method the method used for normal estimation

Definition at line 214 of file integral_image_normal.h.

Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().

◆ setNormalSmoothingSize()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize ( float normal_smoothing_size )

inline

Set the normal smoothing size.

Parameters

[in] normal_smoothing_size factor which influences the size of the area used to smooth normals (depth dependent if useDepthDependentSmoothing is true)

Definition at line 190 of file integral_image_normal.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Referenced by pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().

◆ setRectSize()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setRectSize	(	const int	width,
		const int	height )

Set the regions size which is considered for normal estimation.

Parameters

[in]	width	the width of the search rectangle
[in]	height	the height of the search rectangle

Definition at line 93 of file integral_image_normal.hpp.

◆ setViewPoint()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz )

inline

Set the viewpoint.

Parameters

vpx	the X coordinate of the viewpoint
vpy	the Y coordinate of the viewpoint
vpz	the Z coordinate of the viewpoint

Definition at line 268 of file integral_image_normal.h.

◆ useSensorOriginAsViewPoint()

template<typename PointInT , typename PointOutT >

void pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::useSensorOriginAsViewPoint ( )

inline

sets whether the sensor origin or a user given viewpoint should be used.

After this method, the normal estimation method uses the sensor origin of the input cloud. to use a user defined view point, use the method setViewPoint

Definition at line 297 of file integral_image_normal.h.

References pcl::PCLBase< PointInT >::input_.

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

pcl/features/integral_image_normal.h
pcl/features/impl/integral_image_normal.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Member Enumeration Documentation

◆ BorderPolicy

◆ NormalEstimationMethod

Constructor & Destructor Documentation

◆ IntegralImageNormalEstimation()

◆ ~IntegralImageNormalEstimation()

Member Function Documentation

◆ computeFeature()

◆ computeFeatureFull()

◆ computeFeaturePart()

◆ computePointNormal()

◆ computePointNormalMirror()

◆ getDistanceMap()

◆ getViewPoint()

◆ initData()

◆ setBorderPolicy()

◆ setDepthDependentSmoothing()

◆ setInputCloud()

◆ setMaxDepthChangeFactor()

◆ setNormalEstimationMethod()

◆ setNormalSmoothingSize()

◆ setRectSize()

◆ setViewPoint()

◆ useSensorOriginAsViewPoint()