normal_3d.hpp

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 * $Id: normal_3d.hpp 34711 2010-12-13 19:37:42Z rusu $
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#ifndef PCL_FEATURES_IMPL_NORMAL_3D_H_
#define PCL_FEATURES_IMPL_NORMAL_3D_H_

#include "pcl/features/normal_3d.h"

template <typename PointInT, typename PointOutT> void
pcl::NormalEstimation<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
{
  // Allocate enough space to hold the results
  // \note This resize is irrelevant for a radiusSearch ().
  std::vector<int> nn_indices (k_);
  std::vector<float> nn_dists (k_);

  // Iterating over the entire index vector
  for (size_t idx = 0; idx < indices_->size (); ++idx)
  {
    if (!searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists))
    {
      output.points[idx].normal[0] = output.points[idx].normal[1] = output.points[idx].normal[2] = output.points[idx].curvature = std::numeric_limits<float>::quiet_NaN ();
      continue;
    }

    computePointNormal (*surface_, nn_indices,
                        output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2], output.points[idx].curvature);

    flipNormalTowardsViewpoint (surface_->points[idx], vpx_, vpy_, vpz_,
                                output.points[idx].normal[0], output.points[idx].normal[1], output.points[idx].normal[2]);

  }
}

#define PCL_INSTANTIATE_NormalEstimation(T,NT) template class pcl::NormalEstimation<T,NT>;

#endif    // PCL_FEATURES_IMPL_NORMAL_3D_H_ 

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013