void Example::normal_est(pcl::PointCloud<PointType>::Ptr& cloud, pcl::PointCloud<pcl::Normal>::Ptr& point_n)
{
pcl::search::KdTree<PointType>::Ptr tree(new pcl::search::KdTree<PointType>);
tree->setInputCloud(cloud);
// comput the points normal
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normEst;
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
normEst.setInputCloud(cloud);
normEst.setSearchMethod(tree);
normEst.setKSearch(15);
normEst.compute(*normals);
point_n = normals;
}
PCL 点云法向估计
最新推荐文章于 2024-04-04 20:00:31 发布