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b06544bd54
Add normal estimation and region growing algorithm for point cloud * Add normal estimation and region growing algorithm for point cloud * 1.Modified documentation for normal estimation;2.Converted curvature in region growing to absolute values;3.Changed the data type of threshold from float to double;4.Fixed some bugs; * Finished documentation * Add tests for normal estimation. Test the normal and curvature of each point in the plane and sphere of the point cloud. * Fix some warnings caused by to small numbers in test * Change the test to calculate the average difference instead of comparing each normal and curvature * Fixed the bugs found by testing * Redesigned the interface and fixed problems: 1. Make the interface compatible with radius search. 2. Make region growing optionally sortable on results. 3. Modified the region growing interface. 4. Format reference. 5. Removed sphere test. * Fix warnings * Remove flann dependency * Move the flann dependency to the corresponding test
44 lines
1.6 KiB
C++
44 lines
1.6 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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//
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// Copyright (C) 2021, Wanli Zhong <zhongwl2018@mail.sustech.edu.cn>
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#ifndef OPENCV_TEST_PTCLOUD_UTILS_HPP
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#define OPENCV_TEST_PTCLOUD_UTILS_HPP
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#include "test_precomp.hpp"
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namespace opencv_test {
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/**
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* @brief Generate a specific plane with random points.
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*
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* @param[out] plane_pts Point cloud of plane, only support vector<Point3f> or Mat with Nx3 layout
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* in memory.
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* @param model Plane coefficient [a,b,c,d] means ax+by+cz+d=0.
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* @param thr Generate the maximum distance from the point to the plane.
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* @param num The number of points.
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* @param limit The range of xyz coordinates of the generated plane.
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*
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*/
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void generatePlane(OutputArray plane_pts, const vector<float> &model, float thr, int num,
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const vector<float> &limit);
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/**
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* @brief Generate a specific sphere with random points.
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*
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* @param[out] sphere_pts Point cloud of plane, only support vector<Point3f> or Mat with Nx3 layout
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* in memory.
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* @param model Plane coefficient [a,b,c,d] means x^2+y^2+z^2=r^2.
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* @param thr Generate the maximum distance from the point to the surface of sphere.
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* @param num The number of points.
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* @param limit The range of vector to make the generated sphere incomplete.
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*
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*/
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void generateSphere(OutputArray sphere_pts, const vector<float> &model, float thr, int num,
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const vector<float> &limit);
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} // opencv_test
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#endif //OPENCV_TEST_PTCLOUD_UTILS_HPP
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