normal_estimation_using_integral_images.cpp
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00001 #include <pcl/visualization/cloud_viewer.h>
00002 #include <iostream>
00003 #include <pcl/io/io.h>
00004 #include <pcl/io/pcd_io.h>
00005 #include <pcl/features/integral_image_normal.h>
00006     
00007 int 
00008 main ()
00009 {
00010     // load point cloud
00011     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
00012     pcl::io::loadPCDFile ("table_scene_mug_stereo_textured.pcd", *cloud);
00013     
00014     // estimate normals
00015     pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
00016 
00017     pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
00018     ne.setNormalEstimationMethod (ne.AVERAGE_3D_GRADIENT);
00019     ne.setMaxDepthChangeFactor(0.02f);
00020     ne.setNormalSmoothingSize(10.0f);
00021     ne.setInputCloud(cloud);
00022     ne.compute(*normals);
00023 
00024     // visualize normals
00025     pcl::visualization::PCLVisualizer viewer("PCL Viewer");
00026     viewer.setBackgroundColor (0.0, 0.0, 0.5);
00027     viewer.addPointCloudNormals<pcl::PointXYZ,pcl::Normal>(cloud, normals);
00028     
00029     while (!viewer.wasStopped ())
00030     {
00031       viewer.spinOnce ();
00032     }
00033     return 0;
00034 }


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:25:53