void
estimateNormals (const typename PointCloud<PointT>::ConstPtr &input, PointCloud<Normal> &normals)
{
if (input->isOrganized ())
{
IntegralImageNormalEstimation<PointT, Normal> ne;
// Set the parameters for normal estimation
ne.setNormalEstimationMethod (ne.COVARIANCE_MATRIX);
ne.setMaxDepthChangeFactor (0.02f);
ne.setNormalSmoothingSize (20.0f);
// Estimate normals in the cloud
ne.setInputCloud (input);
ne.compute (normals);
// Save the distance map for the plane comparator
float *map=ne.getDistanceMap ();// This will be deallocated with the IntegralImageNormalEstimation object...
distance_map_.assign(map, map+input->size() ); //...so we must copy the data out
plane_comparator_->setDistanceMap(distance_map_.data());
}
else
{
NormalEstimation<PointT, Normal> ne;
ne.setInputCloud (input);
ne.setRadiusSearch (0.02f);
ne.setSearchMethod (search_);
ne.compute (normals);
}
}
template <typename PointT> QList <pcl::cloud_composer::CloudComposerItem*>
pcl::cloud_composer::OrganizedSegmentationTool::performTemplatedAction (QList <const CloudComposerItem*> input_data)
{
QList <CloudComposerItem*> output;
foreach (const CloudComposerItem* input_item, input_data)
{
QVariant variant = input_item->data (ItemDataRole::CLOUD_TEMPLATED);
if ( ! variant.canConvert <typename PointCloud<PointT>::Ptr> () )
{
qWarning () << "Attempted to cast to template type which does not exist in this item! (input list)";
return output;
}
typename PointCloud <PointT>::Ptr input_cloud = variant.value <typename PointCloud<PointT>::Ptr> ();
if ( ! input_cloud->isOrganized ())
{
qCritical () << "Organized Segmentation requires an organized cloud!";
return output;
}
}