53 std::vector<float> nn_dists (k_);
55 output.is_dense =
true;
60 for (std::size_t idx = 0; idx < indices_->size (); ++idx)
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))
65 output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
67 output.is_dense =
false;
72 output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
79 for (std::size_t idx = 0; idx < indices_->size (); ++idx)
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))
85 output[idx].normal[0] = output[idx].normal[1] = output[idx].normal[2] = output[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
87 output.is_dense =
false;
92 output[idx].normal[0], output[idx].normal[1], output[idx].normal[2]);
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.
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...