CODEWITHSUNDEEP
c++normalspoint-cloudspoint-cloud-library
Aly
Aly

Reputation: 16285

Normal estimates curvature field coming back NAN

I am computing the surface normals for an organized point cloud as follows:

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = create_point_cloud_ptr(cap_depth, cap_rgb);

// estimate normals
pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);

pcl::IntegralImageNormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
ne.setNormalEstimationMethod (ne.AVERAGE_3D_GRADIENT);
ne.setMaxDepthChangeFactor(15);
ne.setNormalSmoothingSize(10.0f);
ne.setInputCloud(cloud);
ne.compute(*normals);

When I iterate through the normals, the curvature field is set to NAN for all points. Am I doing something wrong in the calculation?

Upvotes: 1

Views: 1298

Answers (1)

Aly
Aly

Reputation: 16285

Turns out the AVERAGE_3D_GRADIENT method does not compute surface curvature, need to use ne.COVARIANCE_MATRIX

Upvotes: 3

Related Questions