pcl::SurfelSmoothing< PointT, PointNT > Class Template Reference

#include <pcl/surface/surfel_smoothing.h>

Inheritance diagram for pcl::SurfelSmoothing< PointT, PointNT >:

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Collaboration diagram for pcl::SurfelSmoothing< PointT, PointNT >:

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List of all members.

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 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)

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Detailed Description

template<typename PointT, typename PointNT>
class pcl::SurfelSmoothing< PointT, PointNT >

Definition at line 47 of file surfel_smoothing.h.

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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.

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Constructor & Destructor Documentation

template<typename PointT , typename PointNT >

pcl::SurfelSmoothing< PointT, PointNT >::SurfelSmoothing

(

float

a_scale = 0.01

)

[inline]

Definition at line 63 of file surfel_smoothing.h.

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Member Function Documentation

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::computeSmoothedCloud	(	PointCloudInPtr &	output_positions,
		NormalCloudPtr &	output_normals
	)			[inline]

Definition at line 244 of file surfel_smoothing.hpp.

References pcl::SurfelSmoothing< PointT, PointNT >::initCompute(), pcl::PCLBase< PointT >::input_, and pcl::SurfelSmoothing< PointT, PointNT >::smoothPoint().

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::extractSalientFeaturesBetweenScales	(	PointCloudInPtr &	cloud2,
		NormalCloudPtr &	cloud2_normals,
		boost::shared_ptr< std::vector< int > > &	output_features
	)			[inline]

Definition at line 273 of file surfel_smoothing.hpp.

template<typename PointT , typename PointNT >

bool pcl::SurfelSmoothing< PointT, PointNT >::initCompute

(

)

[inline]

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.

References pcl::PCLBase< PointT >::input_.

Referenced by pcl::SurfelSmoothing< PointT, PointNT >::computeSmoothedCloud().

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::setInputNormals

(

NormalCloudPtr &

a_normals

)

[inline]

Definition at line 75 of file surfel_smoothing.h.

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::setSearchMethod

(

const CloudKdTreePtr &

a_tree

)

[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
	)			[inline]

Definition at line 82 of file surfel_smoothing.hpp.

References pcl::PCLBase< PointT >::input_, and pcl::squaredEuclideanDistance().

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::smoothPoint	(	size_t &	point_index,
		PointT &	output_point,
		PointNT &	output_normal
	)			[inline]

Definition at line 158 of file surfel_smoothing.hpp.

References pcl::PCLBase< PointT >::input_.

Referenced by pcl::SurfelSmoothing< PointT, PointNT >::computeSmoothedCloud().

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The documentation for this class was generated from the following files:

• /builddir/build/BUILD/pcl-pcl-1.7.1/surface/include/pcl/surface/surfel_smoothing.h
• /builddir/build/BUILD/pcl-pcl-1.7.1/surface/include/pcl/surface/impl/surfel_smoothing.hpp