pcl中PrincipalCurvatures 和 Normal中的curvature的区别

phymat.nico 发布时间：2020-03-26 18:26:40 ，浏览量：2

PrincipalCurvature的结构

{
    principal_curvature_x
    principal_curvature_y
    principal_curvature_z
    pc1
    pc2
}

Normal中也有个curvature

{
    nx
    ny
    nz
    curvature
}

PrincipalCurvature的曲率不是数学定义中的曲率，是通过点的邻域和最小二乘算出来的，Normal中的曲率是用邻域点集的协方差矩阵+奇异值分解计算出来的.

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pcl中PrincipalCurvatures 和 Normal中的curvature的区别

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