212 lines
8.0 KiB
C++
212 lines
8.0 KiB
C++
/***************************************************************************
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* Copyright (c) 2016 Werner Mayer <wmayer[at]users.sourceforge.net> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "PreCompiled.h"
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#include "Segmentation.h"
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#include <Mod/Points/App/Points.h>
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#include <Base/Exception.h>
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#if defined(HAVE_PCL_FILTERS)
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#include <pcl/filters/extract_indices.h>
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#include <pcl/filters/passthrough.h>
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#include <pcl/features/normal_3d.h>
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#endif
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#if defined(HAVE_PCL_SAMPLE_CONSENSUS)
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#include <pcl/sample_consensus/method_types.h>
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#include <pcl/sample_consensus/model_types.h>
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#endif
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#if defined(HAVE_PCL_SEGMENTATION)
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#include <pcl/ModelCoefficients.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_types.h>
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#include <pcl/segmentation/sac_segmentation.h>
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#endif
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using namespace std;
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using namespace Reen;
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#if defined(HAVE_PCL_FILTERS)
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using pcl::PointXYZ;
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using pcl::PointNormal;
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using pcl::PointCloud;
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#endif
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#if defined(HAVE_PCL_SEGMENTATION)
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Segmentation::Segmentation(const Points::PointKernel& pts, std::list<std::vector<int> >& clusters)
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: myPoints(pts)
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, myClusters(clusters)
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{
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}
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void Segmentation::perform(int ksearch)
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{
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// All the objects needed
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pcl::PassThrough<PointXYZ> pass;
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pcl::NormalEstimation<PointXYZ, pcl::Normal> ne;
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pcl::SACSegmentationFromNormals<PointXYZ, pcl::Normal> seg;
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pcl::ExtractIndices<PointXYZ> extract;
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pcl::ExtractIndices<pcl::Normal> extract_normals;
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pcl::search::KdTree<PointXYZ>::Ptr tree (new pcl::search::KdTree<PointXYZ> ());
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// Datasets
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pcl::PointCloud<PointXYZ>::Ptr cloud (new pcl::PointCloud<PointXYZ>);
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pcl::PointCloud<PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<PointXYZ>);
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pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
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pcl::PointCloud<PointXYZ>::Ptr cloud_filtered2 (new pcl::PointCloud<PointXYZ>);
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pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2 (new pcl::PointCloud<pcl::Normal>);
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pcl::ModelCoefficients::Ptr coefficients_plane (new pcl::ModelCoefficients), coefficients_cylinder (new pcl::ModelCoefficients);
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pcl::PointIndices::Ptr inliers_plane (new pcl::PointIndices), inliers_cylinder (new pcl::PointIndices);
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// Copy the points
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cloud->reserve(myPoints.size());
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for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
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cloud->push_back(pcl::PointXYZ(it->x, it->y, it->z));
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}
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cloud->width = int (cloud->points.size ());
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cloud->height = 1;
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// Build a passthrough filter to remove spurious NaNs
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pass.setInputCloud (cloud);
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pass.setFilterFieldName ("z");
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pass.setFilterLimits (0, 1.5);
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pass.filter (*cloud_filtered);
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// Estimate point normals
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ne.setSearchMethod (tree);
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ne.setInputCloud (cloud_filtered);
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ne.setKSearch (ksearch);
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ne.compute (*cloud_normals);
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// Create the segmentation object for the planar model and set all the parameters
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seg.setOptimizeCoefficients (true);
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seg.setModelType (pcl::SACMODEL_NORMAL_PLANE);
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seg.setNormalDistanceWeight (0.1);
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seg.setMethodType (pcl::SAC_RANSAC);
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seg.setMaxIterations (100);
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seg.setDistanceThreshold (0.03);
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seg.setInputCloud (cloud_filtered);
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seg.setInputNormals (cloud_normals);
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// Obtain the plane inliers and coefficients
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seg.segment (*inliers_plane, *coefficients_plane);
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myClusters.push_back(inliers_plane->indices);
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// Extract the planar inliers from the input cloud
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extract.setInputCloud (cloud_filtered);
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extract.setIndices (inliers_plane);
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extract.setNegative (false);
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// Write the planar inliers to disk
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pcl::PointCloud<PointXYZ>::Ptr cloud_plane (new pcl::PointCloud<PointXYZ> ());
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extract.filter (*cloud_plane);
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// Remove the planar inliers, extract the rest
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extract.setNegative (true);
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extract.filter (*cloud_filtered2);
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extract_normals.setNegative (true);
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extract_normals.setInputCloud (cloud_normals);
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extract_normals.setIndices (inliers_plane);
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extract_normals.filter (*cloud_normals2);
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// Create the segmentation object for cylinder segmentation and set all the parameters
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seg.setOptimizeCoefficients (true);
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seg.setModelType (pcl::SACMODEL_CYLINDER);
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seg.setNormalDistanceWeight (0.1);
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seg.setMethodType (pcl::SAC_RANSAC);
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seg.setMaxIterations (10000);
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seg.setDistanceThreshold (0.05);
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seg.setRadiusLimits (0, 0.1);
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seg.setInputCloud (cloud_filtered2);
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seg.setInputNormals (cloud_normals2);
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// Obtain the cylinder inliers and coefficients
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seg.segment (*inliers_cylinder, *coefficients_cylinder);
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myClusters.push_back(inliers_cylinder->indices);
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// Write the cylinder inliers to disk
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extract.setInputCloud (cloud_filtered2);
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extract.setIndices (inliers_cylinder);
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extract.setNegative (false);
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pcl::PointCloud<PointXYZ>::Ptr cloud_cylinder (new pcl::PointCloud<PointXYZ> ());
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extract.filter (*cloud_cylinder);
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}
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#endif // HAVE_PCL_SEGMENTATION
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// ----------------------------------------------------------------------------
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#if defined (HAVE_PCL_FILTERS)
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NormalEstimation::NormalEstimation(const Points::PointKernel& pts)
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: myPoints(pts)
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, kSearch(0)
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, searchRadius(0)
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{
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}
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void NormalEstimation::perform(std::vector<Base::Vector3d>& normals)
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{
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// Copy the points
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pcl::PointCloud<PointXYZ>::Ptr cloud (new pcl::PointCloud<PointXYZ>);
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cloud->reserve(myPoints.size());
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for (Points::PointKernel::const_iterator it = myPoints.begin(); it != myPoints.end(); ++it) {
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cloud->push_back(pcl::PointXYZ(it->x, it->y, it->z));
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}
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cloud->width = int (cloud->points.size ());
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cloud->height = 1;
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#if 0
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// Build a passthrough filter to remove spurious NaNs
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pcl::PointCloud<PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<PointXYZ>);
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pcl::PassThrough<PointXYZ> pass;
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pass.setInputCloud (cloud);
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pass.setFilterFieldName ("z");
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pass.setFilterLimits (0, 1.5);
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pass.filter (*cloud_filtered);
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#endif
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// Estimate point normals
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pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
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pcl::search::KdTree<PointXYZ>::Ptr tree (new pcl::search::KdTree<PointXYZ> ());
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pcl::NormalEstimation<PointXYZ, pcl::Normal> ne;
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ne.setSearchMethod (tree);
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//ne.setInputCloud (cloud_filtered);
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ne.setInputCloud (cloud);
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if (kSearch > 0)
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ne.setKSearch (kSearch);
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if (searchRadius > 0)
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ne.setRadiusSearch (searchRadius);
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ne.compute (*cloud_normals);
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normals.reserve(cloud_normals->size());
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for (pcl::PointCloud<pcl::Normal>::const_iterator it = cloud_normals->begin(); it != cloud_normals->end(); ++it) {
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normals.push_back(Base::Vector3d(it->normal_x, it->normal_y, it->normal_z));
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}
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}
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#endif // HAVE_PCL_FILTERS
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