Function OrganizedPointFilters::Filter::ComputeNormals

• Defined in File Normal.hpp

Function Documentation

OrganizedTriangleMatrix OrganizedPointFilters::Filter::ComputeNormals(Eigen::Ref<RowMatrixXVec3f> opc)

Will compute the normals of each implicit triangle in this organized point cloud.

O = Point

            O----------------------O
            |                    XX|
            |  TRI 0          XXX  |
            |              XXXX    |
            |            XXX       |
            |         XXX          |
            |       XXX            |
            |     XXX       TRI 1  |
            |   XXX                |
            |XXX                   |
            O----------------------O

Return

OrganizedTriangleMatrix M X N X 2 X 3. Any invalid triangle will have NaN for normals! Must filter out.

Parameters

• opc: Organized Point Cloud. M X N X 3 Eigen Matrix