Point Cloud Library (PCL) 1.15.0
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normal_3d.h
1/*
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37
38#pragma once
39
40#include <pcl/pcl_macros.h>
41
42#include <pcl/cuda/common/eigen.h>
43
44namespace pcl
45{
46 namespace cuda
47 {
48
49 // normal estimation using PCA on neighborhood. DANGER: neighborhood is sampled with a bias!! contact Nico for details :P
50 template <typename InputIteratorT, typename OutputIteratorT, template <typename> class Storage>
51 void computePointNormals (InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS<Storage>::ConstPtr &input, float radius, int desired_number_neighbors);
52
53 template <template <typename> class Storage, typename InputIteratorT>
54 shared_ptr<typename Storage<float4>::type> computePointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const typename PointCloudAOS<Storage>::ConstPtr &input, float radius, int desired_number_neighbors);
55
56 // fast normal computations
57 template <typename OutputIteratorT, template <typename> class Storage>
58 void computeFastPointNormals (OutputIteratorT output, const typename PointCloudAOS<Storage>::ConstPtr &input);
59
60 template <template <typename> class Storage>
61 shared_ptr<typename Storage<float4>::type> computeFastPointNormals (const typename PointCloudAOS<Storage>::ConstPtr &input);
62
63 // Weird normal estimation (normal deviations - more of an art project..)
64 template <typename InputIteratorT, typename OutputIteratorT, template <typename> class Storage>
65 void computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS<Storage>::ConstPtr &input, float radius, int desired_number_neighbors);
66
67 template <template <typename> class Storage, typename InputIteratorT>
68 shared_ptr<typename Storage<float4>::type> computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const typename PointCloudAOS<Storage>::ConstPtr &input, float radius, int desired_number_neighbors);
69 } // namespace
70} // namespace
shared_ptr< const PointCloudAOS< Storage > > ConstPtr
void computeWeirdPointNormals(InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS< Storage >::ConstPtr &input, float radius, int desired_number_neighbors)
void computePointNormals(InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS< Storage >::ConstPtr &input, float radius, int desired_number_neighbors)
void computeFastPointNormals(OutputIteratorT output, const typename PointCloudAOS< Storage >::ConstPtr &input)
Defines all the PCL and non-PCL macros used.