本文整理汇总了C++中NormalEstimation::setViewPoint方法的典型用法代码示例。如果您正苦于以下问题：C++ NormalEstimation::setViewPoint方法的具体用法？C++ NormalEstimation::setViewPoint怎么用？C++ NormalEstimation::setViewPoint使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类NormalEstimation的用法示例。
在下文中一共展示了NormalEstimation::setViewPoint方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: pcn
/** estimate the normals of a point cloud */
static PointCloud<Normal>::Ptr
compute_pcn(PointCloud<PointXYZ>::ConstPtr in, float vx, float vy, float vz)
{
PointCloud<Normal>::Ptr pcn (new PointCloud<Normal>());
NormalEstimation<PointXYZ, Normal> ne;
search::KdTree<PointXYZ>::Ptr kdt (new search::KdTree<PointXYZ>());
ne.setInputCloud(in);
ne.setSearchMethod(kdt);
ne.setKSearch(20);
ne.setViewPoint(vx, vy, vz);
ne.compute(*pcn);
return pcn;
}示例2: reduceCloud
// Subsample cloud for faster matching and processing, while filling in normals.
void PointcloudProc::reduceCloud(const PointCloud<PointXYZRGB>& input, PointCloud<PointXYZRGBNormal>& output) const
{
PointCloud<PointXYZRGB> cloud_nan_filtered, cloud_box_filtered, cloud_voxel_reduced;
PointCloud<Normal> normals;
PointCloud<PointXYZRGBNormal> cloud_normals;
std::vector<int> indices;
// Filter out nans.
removeNaNFromPointCloud(input, cloud_nan_filtered, indices);
indices.clear();
// Filter out everything outside a [200x200x200] box.
Eigen::Vector4f min_pt(-100, -100, -100, -100);
Eigen::Vector4f max_pt(100, 100, 100, 100);
getPointsInBox(cloud_nan_filtered, min_pt, max_pt, indices);
ExtractIndices<PointXYZRGB> boxfilter;
boxfilter.setInputCloud(boost::make_shared<const PointCloud<PointXYZRGB> >(cloud_nan_filtered));
boxfilter.setIndices (boost::make_shared<vector<int> > (indices));
boxfilter.filter(cloud_box_filtered);
// Reduce pointcloud
VoxelGrid<PointXYZRGB> voxelfilter;
voxelfilter.setInputCloud (boost::make_shared<const PointCloud<PointXYZRGB> > (cloud_box_filtered));
voxelfilter.setLeafSize (0.05, 0.05, 0.05);
// voxelfilter.setLeafSize (0.1, 0.1, 0.1);
voxelfilter.filter (cloud_voxel_reduced);
// Compute normals
NormalEstimation<PointXYZRGB, Normal> normalest;
normalest.setViewPoint(0, 0, 0);
normalest.setSearchMethod (boost::make_shared<search::KdTree<PointXYZRGB> > ());
//normalest.setKSearch (10);
normalest.setRadiusSearch (0.25);
// normalest.setRadiusSearch (0.4);
normalest.setInputCloud(boost::make_shared<const PointCloud<PointXYZRGB> >(cloud_voxel_reduced));
normalest.compute(normals);
pcl::concatenateFields (cloud_voxel_reduced, normals, cloud_normals);
// Filter based on curvature
PassThrough<PointXYZRGBNormal> normalfilter;
normalfilter.setFilterFieldName("curvature");
// normalfilter.setFilterLimits(0.0, 0.2);
normalfilter.setFilterLimits(0.0, 0.2);
normalfilter.setInputCloud(boost::make_shared<const PointCloud<PointXYZRGBNormal> >(cloud_normals));
normalfilter.filter(output);
}