点云特征计算

CloudCompare中常见的点云几何特征计算方法 

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double Neighbourhood::computeFeature(GeomFeature feature)
{
    if (!m_associatedCloud || m_associatedCloud->size() < 3)
    {
        //not enough points
        return std::numeric_limits<double>::quiet_NaN();
    }

    SquareMatrixd eigVectors;
    std::vector<double> eigValues;
    if (!Jacobi<double>::ComputeEigenValuesAndVectors(computeCovarianceMatrix(), eigVectors, eigValues, true))
    {
        //failed to compute the eigen values
        return std::numeric_limits<double>::quiet_NaN();
    }

    Jacobi<d