Method processImpl

apps/modeler/src/normal_estimation_worker.cpp:106–138

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void
pcl::modeler::NormalEstimationWorker::processImpl(CloudMeshItem* cloud_mesh_item)
{
  CloudMesh::PointCloudPtr cloud = cloud_mesh_item->getCloudMesh()->getCloud();

  // Create the normal estimation class, and pass the input dataset to it
  pcl::NormalEstimation<pcl::PointSurfel, pcl::PointNormal> normal_estimator;
  normal_estimator.setInputCloud(cloud);

  pcl::IndicesPtr indices(new pcl::Indices());
  pcl::removeNaNFromPointCloud(*cloud, *indices);
  normal_estimator.setIndices(indices);

  // Create an empty kdtree representation, and pass it to the normal estimation object.
  // Its content will be filled inside the object, based on the given input dataset (as
  // no other search surface is given).
  pcl::search::KdTree<pcl::PointSurfel>::Ptr tree(
      new pcl::search::KdTree<pcl::PointSurfel>());
  normal_estimator.setSearchMethod(tree);

  // Use all neighbors in a sphere of the search radius
  normal_estimator.setRadiusSearch(*search_radius_);

  pcl::PointCloud<pcl::PointNormal> normals;
  normal_estimator.compute(normals);

  for (std::size_t i = 0, i_end = indices->size(); i < i_end; ++i) {
    std::size_t dest = (*indices)[i];
    (*cloud)[dest].normal_x = normals[i].normal_x;
    (*cloud)[dest].normal_y = normals[i].normal_y;
    (*cloud)[dest].normal_z = normals[i].normal_z;
  }
}