Template Function multisensor_calibration::utils::computeNormalVectorsForPointCloudPcl
Defined in File utils.hpp
Function Documentation
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template<typename PointInT, typename PointOutT>
inline void multisensor_calibration::utils::computeNormalVectorsForPointCloudPcl(const typename pcl::PointCloud<PointInT>::Ptr &ipCloud, const float &iSearchRadiusMeter, typename pcl::PointCloud<PointOutT>::Ptr &opCloud) Function to compute normal vectors for point cloud.
This leverages the function provided by the PCL to compute normal vectors by means of a radius search to find the nearest neighbors. The search radius is given in meters.
- Template Parameters:
PointInT – Point type of the input point cloud.
PointOutT – Point type of the output point cloud (needs to contain normal information).
- Parameters:
ipCloud – [in] Pointer to input cloud.
iSearchRadiusMeter – [in] Search radius in meters to find nearest neighbor.
opCloud – [out] Pointer to resulting output point cloud.