It is called principal if F 0 and M 0, where E F G(resp. A local parametrization xof a surface Sin R3 is called orthogonal provided F 0 (so x u and x v are orthogonal at each point). SSE aligned placeholder for the XYZ centroid of a surface patch. Weingarten map, Gauss, mean and principal curvatures - 1 3.1. SSE aligned eigenvectors placeholder for a covariance matrix.Ī pointer to the input dataset that contains the point normals of the XYZ dataset. Placeholder for the 3x3 covariance matrix at each surface patch.Įigenvalues placeholder for a covariance matrix. In particular, I will be computing the so-called curvature tensor, which encodes information on the normal vector \mathbf n, the principal curvatures \kappa1,\kappa2, and the principal directions \mathbf v1,\mathbf v2 as a symmetric matrix.
PRINCIPAL CURVATURES POSTVIEW PATCH
Perform Principal Components Analysis ( PCA) on the point normals of a surface patch in the tangent plane of the given point normal, and return the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) and min (pc2) eigenvalues.Įstimate the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) and min (pc2) eigenvalues for all points given in using the surface in setSearchSurface () and the spatial locator in setSearchMethod () For this answer, I shall be doing something slightly more ambitious. ComputePointPrincipalCurvatures (const pcl::PointCloud &normals, int p_idx, const std::vector & indices, float &pcx, float &pcy, float &pcz, float &pc1, float &pc2)
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