Point Cloud Library (PCL)
1.7.0
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#include <pcl/surface/surfel_smoothing.h>
Public Types | |
typedef boost::shared_ptr < SurfelSmoothing< PointT, PointNT > > | Ptr |
typedef boost::shared_ptr < const SurfelSmoothing < PointT, PointNT > > | ConstPtr |
typedef pcl::PointCloud< PointT > | PointCloudIn |
typedef pcl::PointCloud < PointT >::Ptr | PointCloudInPtr |
typedef pcl::PointCloud< PointNT > | NormalCloud |
typedef pcl::PointCloud < PointNT >::Ptr | NormalCloudPtr |
typedef pcl::search::Search < PointT > | CloudKdTree |
typedef pcl::search::Search < PointT >::Ptr | CloudKdTreePtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
SurfelSmoothing (float a_scale=0.01) | |
void | setInputNormals (NormalCloudPtr &a_normals) |
void | setSearchMethod (const CloudKdTreePtr &a_tree) |
bool | initCompute () |
float | smoothCloudIteration (PointCloudInPtr &output_positions, NormalCloudPtr &output_normals) |
void | computeSmoothedCloud (PointCloudInPtr &output_positions, NormalCloudPtr &output_normals) |
void | smoothPoint (size_t &point_index, PointT &output_point, PointNT &output_normal) |
void | extractSalientFeaturesBetweenScales (PointCloudInPtr &cloud2, NormalCloudPtr &cloud2_normals, boost::shared_ptr< std::vector< int > > &output_features) |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Additional Inherited Members | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
Definition at line 47 of file surfel_smoothing.h.
typedef pcl::search::Search<PointT> pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTree |
Definition at line 60 of file surfel_smoothing.h.
typedef pcl::search::Search<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTreePtr |
Definition at line 61 of file surfel_smoothing.h.
typedef boost::shared_ptr<const SurfelSmoothing<PointT, PointNT> > pcl::SurfelSmoothing< PointT, PointNT >::ConstPtr |
Definition at line 54 of file surfel_smoothing.h.
typedef pcl::PointCloud<PointNT> pcl::SurfelSmoothing< PointT, PointNT >::NormalCloud |
Definition at line 58 of file surfel_smoothing.h.
typedef pcl::PointCloud<PointNT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::NormalCloudPtr |
Definition at line 59 of file surfel_smoothing.h.
typedef pcl::PointCloud<PointT> pcl::SurfelSmoothing< PointT, PointNT >::PointCloudIn |
Definition at line 56 of file surfel_smoothing.h.
typedef pcl::PointCloud<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::PointCloudInPtr |
Definition at line 57 of file surfel_smoothing.h.
typedef boost::shared_ptr<SurfelSmoothing<PointT, PointNT> > pcl::SurfelSmoothing< PointT, PointNT >::Ptr |
Definition at line 53 of file surfel_smoothing.h.
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inline |
Definition at line 63 of file surfel_smoothing.h.
void pcl::SurfelSmoothing< PointT, PointNT >::computeSmoothedCloud | ( | PointCloudInPtr & | output_positions, |
NormalCloudPtr & | output_normals | ||
) |
Definition at line 244 of file surfel_smoothing.hpp.
void pcl::SurfelSmoothing< PointT, PointNT >::extractSalientFeaturesBetweenScales | ( | PointCloudInPtr & | cloud2, |
NormalCloudPtr & | cloud2_normals, | ||
boost::shared_ptr< std::vector< int > > & | output_features | ||
) |
Definition at line 273 of file surfel_smoothing.hpp.
bool pcl::SurfelSmoothing< PointT, PointNT >::initCompute | ( | ) |
Definition at line 46 of file surfel_smoothing.hpp.
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inline |
Definition at line 75 of file surfel_smoothing.h.
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inline |
Definition at line 78 of file surfel_smoothing.h.
float pcl::SurfelSmoothing< PointT, PointNT >::smoothCloudIteration | ( | PointCloudInPtr & | output_positions, |
NormalCloudPtr & | output_normals | ||
) |
Definition at line 82 of file surfel_smoothing.hpp.
References pcl::squaredEuclideanDistance().
void pcl::SurfelSmoothing< PointT, PointNT >::smoothPoint | ( | size_t & | point_index, |
PointT & | output_point, | ||
PointNT & | output_normal | ||
) |
Definition at line 158 of file surfel_smoothing.hpp.