CODEWITHSUNDEEP
3dgeometrypoint-cloud-librarypoint-cloudsnormals
user16987341
user16987341

Reputation: 69

Pcl Integral Image Estimation throwing NAN's for normal fields

When using pcl::IntegralImageEstimation to compute normals, the normal fields are populated with NAN's but when I use other estimation methods like NormalEstimationOMP I can generate normals. I don't get any errors as such, I want to use Integral method as it is much faster than the OMP version and can compute normals real-time for my use case. I have also tried other estimation methods in

IntegralImageNormalEstimation (COVARIANCE_MATRIX,
        AVERAGE_3D_GRADIENT,
        AVERAGE_DEPTH_CHANGE,
        SIMPLE_3D_GRADIENT)

Here's the code I'm using;

pcl::IntegralImageNormalEstimation<PointType, PointType> ne;
ne.setNormalEstimationMethod (ne.AVERAGE_DEPTH_CHANGE);
ne.setMaxDepthChangeFactor(2.0f);
ne.setNormalSmoothingSize(10.0f);
ne.setViewPoint(pose_in.pose.position.x, pose_in.pose.position.y, pose_in.pose.position.z);
ne.setInputCloud(transform_cloud);
SWRI_PROFILE("compute_normal");
ne.compute(*cloud_out);

Upvotes: 2

Views: 161

Answers (0)

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