About viewing point cloud normals

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Max
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About viewing point cloud normals

Max
Hi, everyone
I want to work on normal estimation on a point cloud. I've looked tutorial "
normal_estimation
<http://pointclouds.org/documentation/tutorials/normal_estimation.php>  ", "
pcl_visualizer
<http://www.pointclouds.org/documentation/tutorials/pcl_visualizer.php#pcl-visualizer>
" and topics in mailing list, and the following is my code:
Estimating_Surface_Normals_in_a_PointCloud.cpp
<http://www.pcl-users.org/file/t498157/Estimating_Surface_Normals_in_a_PointCloud.cpp>
. However, it couldn't work and I have no idea where the error occurs.

Can anyone help me to fix the code so that it could work?
Any help is appreciated.
Thank you very much!
Max



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Re: About viewing point cloud normals

Sérgio Agostinho

> . However, it couldn't work and I have no idea where the error occurs.
How do you know it didn't work? What exactly is happening?

Cheers

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Re: About viewing point cloud normals

Rocio
Hi Sergio,
I think that maybe you're having problems because of NAN results in your
normal estimation.
Try to add after  ne.compute(*cloud_normals) the following lines:

std::vector<int> indices;
pcl::removeNaNNormalsFromPointCloud(*cloud_normals,*cloud_normals ,indices);

This will remove all NANNormals from your cloud_normals, leaving the cloud
ready for the visualization.

I hope this can help
Cheers



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