class mp2p_icp_filters::FilterNormals

Overview

Estimates per-point surface normals, in place, as the smallest eigenvector of the k nearest neighbors of each point.

Adds the “normal_x”, “normal_y”, “normal_z” fields to the input layer, which must support extra fields (e.g. mrpt::maps::CGenericPointsMap). If the layer has the “view_x/y/z” fields (see Generator), normals are flipped to point towards the sensor, i.e. outside of solid bodies. Points with too few neighbors get a zero normal.

#include <FilterNormals.h>

class FilterNormals: public mp2p_icp_filters::FilterBase
{
public:
    // structs

    struct Parameters;

    // fields

    Parameters params;

    // methods

    virtual void filter(mp2p_icp::metric_map_t& inOut) const;
};

Inherited Members

public:
    // methods

    Parameterizable& operator = (const Parameterizable&);
    Parameterizable& operator = (Parameterizable&&);
    virtual void filter(mp2p_icp::metric_map_t& inOut) const = 0;
    FilterBase& operator = (const FilterBase&);
    FilterBase& operator = (FilterBase&&);

Methods

virtual void filter(mp2p_icp::metric_map_t& inOut) const

See docs above for FilterBase.