import pcl
import pcl.pcl_visualization
def main():
cloud = pcl.load('output/003784.pcd')
print('load output/003784.pcd')
ne = cloud.make_NormalEstimation()
ne.set_KSearch(20)
normals = ne.compute()
# the normal is stored in the first 3 components (0-2), and the curvature is stored in component 3
viewer = pcl.pcl_visualization.PCLVisualizering()
viewer.SetBackgroundColor(0.0, 0.0, 0.5)
viewer.AddPointCloud(cloud)
viewer.AddPointCloudNormals(cloud, normals, 10, 0.05, b'normals')
flag = True
while flag:
flag = not(viewer.WasStopped())
viewer.SpinOnce()
if __name__ == "__main__":
main()
python-pcl计算点云法向量
最新推荐文章于 2024-04-09 16:49:01 发布