Point Cloud Library (PCL) 1.13.0
normal_3d.hpp
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40
41#ifndef PCL_FEATURES_IMPL_NORMAL_3D_H_
42#define PCL_FEATURES_IMPL_NORMAL_3D_H_
43
44#include <pcl/features/normal_3d.h>
45
46///////////////////////////////////////////////////////////////////////////////////////////
47template <typename PointInT, typename PointOutT> void
49{
50 // Allocate enough space to hold the results
51 // \note This resize is irrelevant for a radiusSearch ().
52 pcl::Indices nn_indices (k_);
53 std::vector<float> nn_dists (k_);
54
55 output.is_dense = true;
56 // Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
57 if (input_->is_dense)
58 {
59 // Iterating over the entire index vector
60 for (std::size_t idx = 0; idx < indices_->size (); ++idx)
61 {
62 if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0 ||
63 !computePointNormal (*surface_, nn_indices, output[idx].normal[0], output[idx].normal[1], output[idx].normal[2], output[idx].curvature))
64 {
65 output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
66
67 output.is_dense = false;
68 continue;
69 }
70
71 flipNormalTowardsViewpoint ((*input_)[(*indices_)[idx]], vpx_, vpy_, vpz_,
72 output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
73
74 }
75 }
76 else
77 {
78 // Iterating over the entire index vector
79 for (std::size_t idx = 0; idx < indices_->size (); ++idx)
80 {
81 if (!isFinite ((*input_)[(*indices_)[idx]]) ||
82 this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0 ||
83 !computePointNormal (*surface_, nn_indices, output[idx].normal[0], output[idx].normal[1], output[idx].normal[2], output[idx].curvature))
84 {
85 output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
86
87 output.is_dense = false;
88 continue;
89 }
90
91 flipNormalTowardsViewpoint ((*input_)[(*indices_)[idx]], vpx_, vpy_, vpz_,
92 output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
93
94 }
95 }
96}
97
98#define PCL_INSTANTIATE_NormalEstimation(T,NT) template class PCL_EXPORTS pcl::NormalEstimation<T,NT>;
99
100#endif // PCL_FEATURES_IMPL_NORMAL_3D_H_
void computeFeature(PointCloudOut &output) override
Estimate normals for all points given in <setInputCloud (), setIndices ()> using the surface in setSe...
Definition: normal_3d.hpp:48
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).
Definition: point_cloud.h:403
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
bool computePointNormal(const pcl::PointCloud< PointT > &cloud, Eigen::Vector4f &plane_parameters, float &curvature)
Compute the Least-Squares plane fit for a given set of points, and return the estimated plane paramet...
Definition: normal_3d.h:61
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133