#include <pcl/surface/surfel_smoothing.h>
Inheritance diagram for pcl::SurfelSmoothing< PointT, PointNT >:
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 |
| Public Types inherited from pcl::PCLBase< PointT > | |
| 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 () |
| This method should get called before starting the actual computation. | |
| 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) |
| Public Member Functions inherited from pcl::PCLBase< PointT > | |
| PCLBase () | |
| Empty constructor. | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. | |
| virtual | ~PCLBase () |
| Destructor. | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. | |
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| 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. | |
| IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. | |
| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. | |
| const PointT & | operator[] (size_t pos) const |
| Override PointCloud operator[] to shorten code. | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::PCLBase< PointT > | |
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. | |
| Protected Attributes inherited from pcl::PCLBase< PointT > | |
| PointCloudConstPtr | input_ |
| The input point cloud dataset. | |
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. | |
| bool | use_indices_ |
| Set to true if point indices are used. | |
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. | |
Detailed Description
template<typename PointT, typename PointNT>
class pcl::SurfelSmoothing< PointT, PointNT >
Definition at line 47 of file surfel_smoothing.h.
Member Typedef Documentation
template<typename PointT , typename PointNT >
| typedef pcl::search::Search<PointT> pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTree |
Definition at line 60 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
| typedef pcl::search::Search<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTreePtr |
Definition at line 61 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
| typedef boost::shared_ptr<const SurfelSmoothing<PointT, PointNT> > pcl::SurfelSmoothing< PointT, PointNT >::ConstPtr |
Definition at line 54 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
| typedef pcl::PointCloud<PointNT> pcl::SurfelSmoothing< PointT, PointNT >::NormalCloud |
Definition at line 58 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
| typedef pcl::PointCloud<PointNT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::NormalCloudPtr |
Definition at line 59 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
| typedef pcl::PointCloud<PointT> pcl::SurfelSmoothing< PointT, PointNT >::PointCloudIn |
Definition at line 56 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
| typedef pcl::PointCloud<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::PointCloudInPtr |
Definition at line 57 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
| typedef boost::shared_ptr<SurfelSmoothing<PointT, PointNT> > pcl::SurfelSmoothing< PointT, PointNT >::Ptr |
Definition at line 53 of file surfel_smoothing.h.
Constructor & Destructor Documentation
template<typename PointT , typename PointNT >
|
inline |
Definition at line 63 of file surfel_smoothing.h.
Member Function Documentation
template<typename PointT , typename PointNT >
| void pcl::SurfelSmoothing< PointT, PointNT >::computeSmoothedCloud | ( | PointCloudInPtr & | output_positions, |
| NormalCloudPtr & | output_normals | ||
| ) |
Definition at line 244 of file surfel_smoothing.hpp.
template<typename PointT , typename PointNT >
| 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.
template<typename PointT , typename PointNT >
| bool pcl::SurfelSmoothing< PointT, PointNT >::initCompute | ( | ) |
This method should get called before starting the actual computation.
Internally, initCompute() does the following:
- checks if an input dataset is given, and returns false otherwise
- checks whether a set of input indices has been given. Returns true if yes.
- if no input indices have been given, a fake set is created, which will be used until:
- either a new set is given via setIndices(), or
- a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 46 of file surfel_smoothing.hpp.
template<typename PointT , typename PointNT >
|
inline |
Definition at line 75 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
|
inline |
Definition at line 78 of file surfel_smoothing.h.
template<typename PointT , typename PointNT >
| float pcl::SurfelSmoothing< PointT, PointNT >::smoothCloudIteration | ( | PointCloudInPtr & | output_positions, |
| NormalCloudPtr & | output_normals | ||
| ) |
Definition at line 82 of file surfel_smoothing.hpp.
References pcl::squaredEuclideanDistance().
template<typename PointT , typename PointNT >
| 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.
The documentation for this class was generated from the following files:
- /tmp/buildd/pcl-1.7.2/surface/include/pcl/surface/surfel_smoothing.h
- /tmp/buildd/pcl-1.7.2/surface/include/pcl/surface/impl/surfel_smoothing.hpp