Method compute

gpu/features/src/features.cpp:103–128

}

void pcl::gpu::NormalEstimation::compute(Normals& normals)
{
    assert(!cloud_.empty());
    if (radius_ <= 0.0f || max_results_ <= 0) {
        pcl::gpu::error("radius and/or max_results is invalid. Set them appropriately with setRadiusSearch", __FILE__, __LINE__);
        return;
    }

    PointCloud& surface = surface_.empty() ? cloud_ : surface_;

    octree_.setCloud(surface);
    octree_.build();

    if (indices_.empty() || (!indices_.empty() && indices_.size() == cloud_.size()))
    {
        octree_.radiusSearch(cloud_, radius_, max_results_, nn_indices_);        
        computeNormals(surface, nn_indices_, normals);
        flipNormalTowardsViewpoint(cloud_, vpx_, vpy_, vpz_, normals);
    }
    else
    {
        octree_.radiusSearch(cloud_, indices_, radius_, max_results_, nn_indices_);
        computeNormals(surface, nn_indices_, normals);
        flipNormalTowardsViewpoint(cloud_, indices_, vpx_, vpy_, vpz_, normals);
    }    
}


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