mirror of
https://github.com/opencv/opencv.git
synced 2024-12-15 09:49:13 +08:00
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.
|
|
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
|
// of this distribution and at http://opencv.org/license.html.
|
|
//
|
|
// Copyright (C) 2021, Wanli Zhong <zhongwl2018@mail.sustech.edu.cn>
|
|
|
|
#ifndef OPENCV_TEST_PTCLOUD_UTILS_HPP
|
|
#define OPENCV_TEST_PTCLOUD_UTILS_HPP
|
|
|
|
#include "test_precomp.hpp"
|
|
|
|
namespace opencv_test {
|
|
|
|
/**
|
|
* @brief Generate a specific plane with random points.
|
|
*
|
|
* @param[out] plane_pts Point cloud of plane, only support vector<Point3f> or Mat with Nx3 layout
|
|
* in memory.
|
|
* @param model Plane coefficient [a,b,c,d] means ax+by+cz+d=0.
|
|
* @param thr Generate the maximum distance from the point to the plane.
|
|
* @param num The number of points.
|
|
* @param limit The range of xyz coordinates of the generated plane.
|
|
*
|
|
*/
|
|
void generatePlane(OutputArray plane_pts, const vector<float> &model, float thr, int num,
|
|
const vector<float> &limit);
|
|
|
|
/**
|
|
* @brief Generate a specific sphere with random points.
|
|
*
|
|
* @param[out] sphere_pts Point cloud of plane, only support vector<Point3f> or Mat with Nx3 layout
|
|
* in memory.
|
|
* @param model Plane coefficient [a,b,c,d] means x^2+y^2+z^2=r^2.
|
|
* @param thr Generate the maximum distance from the point to the surface of sphere.
|
|
* @param num The number of points.
|
|
* @param limit The range of vector to make the generated sphere incomplete.
|
|
*
|
|
*/
|
|
void generateSphere(OutputArray sphere_pts, const vector<float> &model, float thr, int num,
|
|
const vector<float> &limit);
|
|
|
|
} // opencv_test
|
|
#endif //OPENCV_TEST_PTCLOUD_UTILS_HPP
|