Point Cloud Library (PCL) 1.12.0
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surfel_smoothing.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Alexandru-Eugen Ichim
5 * Willow Garage, Inc
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
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20 * from this software without specific prior written permission.
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22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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35 * $Id$
36 */
37
38#pragma once
39
40#include <pcl/pcl_base.h>
41#include <pcl/search/search.h> // for Search
42
43namespace pcl
44{
45 template <typename PointT, typename PointNT>
46 class SurfelSmoothing : public PCLBase<PointT>
47 {
50
51 public:
52 typedef shared_ptr<SurfelSmoothing<PointT, PointNT> > Ptr;
53 typedef shared_ptr<const SurfelSmoothing<PointT, PointNT> > ConstPtr;
54
61
62 SurfelSmoothing (float a_scale = 0.01)
63 : PCLBase<PointT> ()
64 , scale_ (a_scale)
65 , scale_squared_ (a_scale * a_scale)
66 , normals_ ()
67 , interm_cloud_ ()
68 , interm_normals_ ()
69 , tree_ ()
70 {
71 }
72
73 void
74 setInputNormals (NormalCloudPtr &a_normals) { normals_ = a_normals; };
75
76 void
77 setSearchMethod (const CloudKdTreePtr &a_tree) { tree_ = a_tree; };
78
79 bool
80 initCompute ();
81
82 float
83 smoothCloudIteration (PointCloudInPtr &output_positions,
84 NormalCloudPtr &output_normals);
85
86 void
87 computeSmoothedCloud (PointCloudInPtr &output_positions,
88 NormalCloudPtr &output_normals);
89
90
91 void
92 smoothPoint (std::size_t &point_index,
93 PointT &output_point,
94 PointNT &output_normal);
95
96 void
98 NormalCloudPtr &cloud2_normals,
99 pcl::IndicesPtr &output_features);
100
101 private:
102 float scale_, scale_squared_;
103 NormalCloudPtr normals_;
104
105 PointCloudInPtr interm_cloud_;
106 NormalCloudPtr interm_normals_;
107
108 CloudKdTreePtr tree_;
109
110 };
111}
112
113#ifdef PCL_NO_PRECOMPILE
114#include <pcl/surface/impl/surfel_smoothing.hpp>
115#endif
PCL base class.
Definition pcl_base.h:70
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
typename pcl::PointCloud< PointNT >::Ptr NormalCloudPtr
shared_ptr< const SurfelSmoothing< PointT, PointNT > > ConstPtr
void extractSalientFeaturesBetweenScales(PointCloudInPtr &cloud2, NormalCloudPtr &cloud2_normals, pcl::IndicesPtr &output_features)
float smoothCloudIteration(PointCloudInPtr &output_positions, NormalCloudPtr &output_normals)
void setInputNormals(NormalCloudPtr &a_normals)
SurfelSmoothing(float a_scale=0.01)
void smoothPoint(std::size_t &point_index, PointT &output_point, PointNT &output_normal)
shared_ptr< SurfelSmoothing< PointT, PointNT > > Ptr
void computeSmoothedCloud(PointCloudInPtr &output_positions, NormalCloudPtr &output_normals)
void setSearchMethod(const CloudKdTreePtr &a_tree)
typename pcl::search::Search< PointT >::Ptr CloudKdTreePtr
typename pcl::PointCloud< PointT >::Ptr PointCloudInPtr
Generic search class.
Definition search.h:75
shared_ptr< pcl::search::Search< PointT > > Ptr
Definition search.h:81
shared_ptr< Indices > IndicesPtr
Definition pcl_base.h:58
A point structure representing Euclidean xyz coordinates, and the RGB color.