Package georegression.fitting.points

Class PointCloudToNormals_F64

java.lang.Object

georegression.fitting.points.PointCloudToNormals_F64

Direct Known Subclasses:

PointCloudToNormals_MT_F64

public class PointCloudToNormals_F64
extends Object

Takes in a point cloud and returns the same point cloud with surface norms. In this implementation, we use a KDTree to find all the N local neighbors of each point. A plane is fit to those neighbors and the normal extracted from that. The sign of the normal is arbitrary as additional information is needed.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected class	PointCloudToNormals_F64.Helper	Contains everything that a single thread needs to search for points

Field Summary

Fields

Modifier and Type	Field	Description
int	numNeighbors

Constructor Summary

Constructors

Constructor	Description
PointCloudToNormals_F64()

Method Summary

Modifier and Type	Method	Description
protected void	convert(int idx0, int idx1, List<Point3D_F64> input, DogArray<Vector3D_F64> output, PointCloudToNormals_F64.Helper helper)	Convert all the points within the specified range.
void	convert(List<Point3D_F64> input, List<Point3D_F64> cloud, DogArray<Vector3D_F64> output)	Computes surface normals for all the inputs using the provided cloud.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

numNeighbors

public int numNeighbors

Constructor Details

PointCloudToNormals_F64

public PointCloudToNormals_F64()

Method Details

convert

public void convert(List<Point3D_F64> input,
 List<Point3D_F64> cloud,
 DogArray<Vector3D_F64> output)

Computes surface normals for all the inputs using the provided cloud.

Parameters:

input - (Input) Points which will have their normals computed

cloud - (Input) The point cloud which will be sampled for the local planes

output - (Output) Storage for the found normals of the input

convert

protected void convert(int idx0,
 int idx1,
 List<Point3D_F64> input,
 DogArray<Vector3D_F64> output,
 PointCloudToNormals_F64.Helper helper)

Convert all the points within the specified range.