41 #include <pcl/point_cloud.h> 43 #include <pcl/features/feature.h> 50 template <
typename Po
intInT,
typename Po
intOutT>
54 using Ptr = shared_ptr<LinearLeastSquaresNormalEstimation<PointInT, PointOutT> >;
55 using ConstPtr = shared_ptr<const LinearLeastSquaresNormalEstimation<PointInT, PointOutT> >;
65 use_depth_dependent_smoothing_(false),
66 max_depth_change_factor_(1.0f),
67 normal_smoothing_size_(9.0f)
92 normal_smoothing_size_ = normal_smoothing_size;
101 use_depth_dependent_smoothing_ = use_depth_dependent_smoothing;
111 max_depth_change_factor_ = max_depth_change_factor;
136 bool use_depth_dependent_smoothing_;
139 float max_depth_change_factor_;
142 float normal_smoothing_size_;
146 #ifdef PCL_NO_PRECOMPILE 147 #include <pcl/features/impl/linear_least_squares_normal.hpp> ~LinearLeastSquaresNormalEstimation()
Destructor.
LinearLeastSquaresNormalEstimation()
Constructor.
void setDepthDependentSmoothing(bool use_depth_dependent_smoothing)
Set whether to use depth depending smoothing or not.
std::string feature_name_
The feature name.
int k_
The number of K nearest neighbors to use for each point.
void setNormalSmoothingSize(float normal_smoothing_size)
Set the normal smoothing size.
KdTreePtr tree_
A pointer to the spatial search object.
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
void setMaxDepthChangeFactor(float max_depth_change_factor)
The depth change threshold for computing object borders.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Defines all the PCL implemented PointT point type structures.
void computeFeature(PointCloudOut &output) override
Computes the normal for the complete cloud.
shared_ptr< const PointCloud< PointInT > > ConstPtr
PointCloudConstPtr input_
The input point cloud dataset.
Feature represents the base feature class.
void computePointNormal(const int pos_x, const int pos_y, PointOutT &normal)
Computes the normal at the specified position.
Surface normal estimation on dense data using a least-squares estimation based on a first-order Taylo...
void setInputCloud(const typename PointCloudIn::ConstPtr &cloud) override
Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method) ...
shared_ptr< Feature< PointInT, PointOutT > > Ptr