шаблон<typename NormalT>
класс pcl::NormalRefinement< NormalT >

Класс уточнения векторов нормалей

Этот класс уточняет набор уже оценённых нормалей, итеративно обновляя каждую нормаль до (взвешенного) среднего значения всех нормалей в её окрестности. Цель — повторное использование тех же соответствий точек, что и при оценке исходных нормалей, чтобы избежать повторного поиска ближайших соседей.

Примечание

Этот класс игнорирует точки, для которых в окрестности встречается NaN. В особых случаях, когда у точки только NaN в окрестности, результирующая уточнённая нормаль устанавливается в ноль, т. е. этот класс генерирует только конечные нормали.

Пример использования:

// Input point cloud
pcl::PointCloud<PointT> cloud;
 
// Fill cloud...
 
// Estimated and refined normals
pcl::PointCloud<NormalT> normals;
pcl::PointCloud<NormalT> normals_refined;
 
// Search parameters
const int k = 5;
std::vector<Indices > k_indices;
std::vector<std::vector<float> > k_sqr_distances;
 
// Run search
pcl::search::KdTree<pcl::PointXYZRGB> search;
search.setInputCloud (cloud.makeShared ());
search.nearestKSearch (cloud, Indices (), k, k_indices, k_sqr_distances);
 
// Use search results for normal estimation
pcl::NormalEstimation<PointT, NormalT> ne;
for (unsigned int i = 0; i < cloud.size (); ++i)
{
 NormalT normal;
 ne.computePointNormal (cloud, k_indices[i]
 normal.normal_x, normal.normal_y, normal.normal_z, normal.curvature);
 pcl::flipNormalTowardsViewpoint (cloud[i], cloud.sensor_origin_[0], cloud.sensor_origin_[1], cloud.sensor_origin_[2],
 normal.normal_x, normal.normal_y, normal.normal_z);
 normals.push_back (normal);
}
 
// Run refinement using search results
pcl::NormalRefinement<NormalT> nr (k_indices, k_sqr_distances);
nr.setInputCloud (normals.makeShared ());
nr.filter (normals_refined);
pcl::NormalEstimationNormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point.Definition: normal_3d.h:244
pcl::NormalEstimation
NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point.
Definition: normal_3d.h:244
pcl::NormalEstimation::computePointNormalbool computePointNormal(const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, Eigen::Vector4f &plane_parameters, float &curvature)Compute the Least-Squares plane fit for a given set of points, using their indices,...Definition: normal_3d.h:284
pcl::NormalEstimation::computePointNormal
bool computePointNormal(const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, Eigen::Vector4f &plane_parameters, float &curvature)
Compute the Least-Squares plane fit for a given set of points, using their indices,...
Definition: normal_3d.h:284
pcl::NormalRefinementNormal vector refinement classDefinition: normal_refinement.h:191
pcl::NormalRefinement
Normal vector refinement class
Definition: normal_refinement.h:191
pcl::PointCloudPointCloud represents the base class in PCL for storing collections of 3D points.Definition: point_cloud.h:173
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl::PointCloud::push_backvoid push_back(const PointT &pt)Insert a new point in the cloud, at the end of the container.Definition: point_cloud.h:663
pcl::PointCloud::push_back
void push_back(const PointT &pt)
Insert a new point in the cloud, at the end of the container.
Definition: point_cloud.h:663
pcl::PointCloud::sizestd::size_t size() constDefinition: point_cloud.h:443
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:443
pcl::PointCloud::sensor_origin_Eigen::Vector4f sensor_origin_Sensor acquisition pose (origin/translation).Definition: point_cloud.h:406
pcl::PointCloud::sensor_origin_
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
Definition: point_cloud.h:406
pcl::PointCloud::makeSharedPtr makeShared() constCopy the cloud to the heap and return a smart pointer Note that deep copy is performed,...Definition: point_cloud.h:898
pcl::PointCloud::makeShared
Ptr makeShared() const
Copy the cloud to the heap and return a smart pointer Note that deep copy is performed,...
Definition: point_cloud.h:898
pcl::search::KdTree< pcl::PointXYZRGB >
pcl::search::KdTree< pcl::PointXYZRGB >
pcl::search::KdTree::nearestKSearchint nearestKSearch(const PointT &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const overrideSearch for the k-nearest neighbors for the given query point.Definition: kdtree.hpp:87
pcl::search::KdTree::nearestKSearch
int nearestKSearch(const PointT &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override
Search for the k-nearest neighbors for the given query point.
Definition: kdtree.hpp:87
pcl::search::KdTree::setInputCloudvoid setInputCloud(const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) overrideProvide a pointer to the input dataset.Definition: kdtree.hpp:76
pcl::search::KdTree::setInputCloud
void setInputCloud(const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) override
Provide a pointer to the input dataset.
Definition: kdtree.hpp:76
pcl::flipNormalTowardsViewpointvoid flipNormalTowardsViewpoint(const PointT &point, float vp_x, float vp_y, float vp_z, Eigen::Matrix< Scalar, 4, 1 > &normal)Flip (in place) the estimated normal of a point towards a given viewpoint.Definition: normal_3d.h:122
pcl::flipNormalTowardsViewpoint
void flipNormalTowardsViewpoint(const PointT &point, float vp_x, float vp_y, float vp_z, Eigen::Matrix< Scalar, 4, 1 > &normal)
Flip (in place) the estimated normal of a point towards a given viewpoint.
Definition: normal_3d.h:122
pcl::IndicesIndicesAllocator<> IndicesType used for indices in PCL.Definition: types.h:133
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::_Normal::curvaturefloat curvatureDefinition: point_types.hpp:809
pcl::_Normal::curvature
float curvature
Definition: point_types.hpp:809
pcl::NormalA point structure representing normal coordinates and the surface curvature estimate.Definition: point_types.hpp:821
pcl::Normal
A point structure representing normal coordinates and the surface curvature estimate.
Definition: point_types.hpp:821

Автор

Anders Glent Buch

Определение в строке 190 файла normal_refinement.h.