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surfel_smoothing.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Alexandru-Eugen Ichim
* Willow Garage, Inc
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
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* disclaimer in the documentation and/or other materials provided
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*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* $Id$
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#pragma once
#include <pcl/pcl_base.h>
#include <pcl/search/search.h> // for Search
namespace pcl
{
template <typename PointT, typename PointNT>
class SurfelSmoothing : public PCLBase<PointT>
{
using PCLBase<PointT>::input_;
using PCLBase<PointT>::initCompute;
public:
using Ptr = shared_ptr<SurfelSmoothing<PointT, PointNT> >;
using ConstPtr = shared_ptr<const SurfelSmoothing<PointT, PointNT> >;
using PointCloudIn = pcl::PointCloud<PointT>;
using PointCloudInPtr = typename pcl::PointCloud<PointT>::Ptr;
using NormalCloud = pcl::PointCloud<PointNT>;
using NormalCloudPtr = typename pcl::PointCloud<PointNT>::Ptr;
using CloudKdTree = pcl::search::Search<PointT>;
using CloudKdTreePtr = typename pcl::search::Search<PointT>::Ptr;
SurfelSmoothing (float a_scale = 0.01)
: PCLBase<PointT> ()
, scale_ (a_scale)
, scale_squared_ (a_scale * a_scale)
, normals_ ()
, interm_cloud_ ()
, interm_normals_ ()
, tree_ ()
{
}
void
setInputNormals (NormalCloudPtr &a_normals) { normals_ = a_normals; };
void
setSearchMethod (const CloudKdTreePtr &a_tree) { tree_ = a_tree; };
bool
initCompute ();
float
smoothCloudIteration (PointCloudInPtr &output_positions,
NormalCloudPtr &output_normals);
void
computeSmoothedCloud (PointCloudInPtr &output_positions,
NormalCloudPtr &output_normals);
void
smoothPoint (std::size_t &point_index,
PointT &output_point,
PointNT &output_normal);
void
extractSalientFeaturesBetweenScales (PointCloudInPtr &cloud2,
NormalCloudPtr &cloud2_normals,
pcl::IndicesPtr &output_features);
private:
float scale_, scale_squared_;
NormalCloudPtr normals_;
PointCloudInPtr interm_cloud_;
NormalCloudPtr interm_normals_;
CloudKdTreePtr tree_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/surface/impl/surfel_smoothing.hpp>
#endif
pcl::PCLBase::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
pcl::PCLBase::PCLBase
PCLBase()
Empty constructor.
Definition pcl_base.hpp:46
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:174
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:414
pcl::SurfelSmoothing::NormalCloudPtr
typename pcl::PointCloud< PointNT >::Ptr NormalCloudPtr
Definition surfel_smoothing.h:58
pcl::SurfelSmoothing::PointCloudIn
pcl::PointCloud< PointT > PointCloudIn
Definition surfel_smoothing.h:55
pcl::SurfelSmoothing::extractSalientFeaturesBetweenScales
void extractSalientFeaturesBetweenScales(PointCloudInPtr &cloud2, NormalCloudPtr &cloud2_normals, pcl::IndicesPtr &output_features)
Definition surfel_smoothing.hpp:276
pcl::SurfelSmoothing::initCompute
bool initCompute()
Definition surfel_smoothing.hpp:49
pcl::SurfelSmoothing::smoothCloudIteration
float smoothCloudIteration(PointCloudInPtr &output_positions, NormalCloudPtr &output_normals)
Definition surfel_smoothing.hpp:85
pcl::SurfelSmoothing::setInputNormals
void setInputNormals(NormalCloudPtr &a_normals)
Definition surfel_smoothing.h:74
pcl::SurfelSmoothing::ConstPtr
shared_ptr< const SurfelSmoothing< PointT, PointNT > > ConstPtr
Definition surfel_smoothing.h:53
pcl::SurfelSmoothing::SurfelSmoothing
SurfelSmoothing(float a_scale=0.01)
Definition surfel_smoothing.h:62
pcl::SurfelSmoothing::smoothPoint
void smoothPoint(std::size_t &point_index, PointT &output_point, PointNT &output_normal)
Definition surfel_smoothing.hpp:161
pcl::SurfelSmoothing::computeSmoothedCloud
void computeSmoothedCloud(PointCloudInPtr &output_positions, NormalCloudPtr &output_normals)
Definition surfel_smoothing.hpp:247
pcl::SurfelSmoothing::CloudKdTree
pcl::search::Search< PointT > CloudKdTree
Definition surfel_smoothing.h:59
pcl::SurfelSmoothing::setSearchMethod
void setSearchMethod(const CloudKdTreePtr &a_tree)
Definition surfel_smoothing.h:77
pcl::SurfelSmoothing::Ptr
shared_ptr< SurfelSmoothing< PointT, PointNT > > Ptr
Definition surfel_smoothing.h:52
pcl::SurfelSmoothing::NormalCloud
pcl::PointCloud< PointNT > NormalCloud
Definition surfel_smoothing.h:57
pcl::SurfelSmoothing::CloudKdTreePtr
typename pcl::search::Search< PointT >::Ptr CloudKdTreePtr
Definition surfel_smoothing.h:60
pcl::SurfelSmoothing::PointCloudInPtr
typename pcl::PointCloud< PointT >::Ptr PointCloudInPtr
Definition surfel_smoothing.h:56
pcl::search::Search
Generic search class.
Definition search.h:75
pcl::search::Search::Ptr
shared_ptr< pcl::search::Search< PointT > > Ptr
Definition search.h:81
pcl
Definition convolution.h:46
pcl::IndicesPtr
shared_ptr< Indices > IndicesPtr
Definition pcl_base.h:58