mls.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, 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
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: mls.h 36043 2011-02-17 23:59:49Z marton $
 *
 */

#ifndef PCL_MLS_H_
#define PCL_MLS_H_

// PCL includes
#include <pcl/pcl_base.h>
#include "pcl/features/normal_3d.h"

#include <Eigen/SVD>

namespace pcl
{

  template <typename PointInT, typename NormalOutT>
  class MovingLeastSquares : public PCLBase<PointInT>
  {
    using PCLBase<PointInT>::input_;
    using PCLBase<PointInT>::indices_;
    using PCLBase<PointInT>::initCompute;
    using PCLBase<PointInT>::deinitCompute;

    public:
      typedef typename pcl::KdTree<PointInT> KdTree;
      typedef typename pcl::KdTree<PointInT>::Ptr KdTreePtr;

      typedef pcl::PointCloud<NormalOutT> NormalCloudOut;
      typedef typename NormalCloudOut::Ptr NormalCloudOutPtr;
      typedef typename NormalCloudOut::ConstPtr NormalCloudOutConstPtr;

      typedef pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename PointCloudIn::Ptr PointCloudInPtr;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

      typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;

      MovingLeastSquares () : tree_ (), order_ (2), polynomial_fit_ (true), search_radius_ (0), sqr_gauss_param_ (0) {};

      inline void setOutputNormals (NormalCloudOutPtr cloud) { normals_ = cloud; }

      inline NormalCloudOutPtr getOutputNormals () { return normals_; }

      inline void
      setSearchMethod (const KdTreePtr &tree)
      {
        tree_ = tree;
        // Declare the search locator definition
        int (KdTree::*radiusSearch)(int index, double radius, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances, int max_nn) const = &KdTree::radiusSearch;
        search_method_ = boost::bind (radiusSearch, boost::ref (tree_), _1, _2, _3, _4, INT_MAX);
      }

      inline KdTreePtr getSearchMethod () { return (tree_); }

      inline void setPolynomialOrder (int order) { order_ = order; }

      inline int getPolynomialOrder () { return (order_); }

      inline void setPolynomialFit (bool polynomial_fit) { polynomial_fit_ = polynomial_fit; }

      inline bool getPolynomialFit () { return (polynomial_fit_); }

      inline void setSearchRadius (double radius) { search_radius_ = radius; sqr_gauss_param_ = search_radius_ * search_radius_; }

      inline double getSearchRadius () { return (search_radius_); }

      inline void setSqrGaussParam (double sqr_gauss_param) { sqr_gauss_param_ = sqr_gauss_param; }

      inline double getSqrGaussParam () { return (sqr_gauss_param_); }

      void reconstruct (PointCloudIn &output);

    protected:
      NormalCloudOutPtr normals_;

      SearchMethod search_method_;

      KdTreePtr tree_;

      int order_;

      bool polynomial_fit_;

      double search_radius_;

      double sqr_gauss_param_;

      inline int
      searchForNeighbors (int index, std::vector<int> &indices, std::vector<float> &sqr_distances)
      {
        return (search_method_ (index, search_radius_, indices, sqr_distances));
      }

    private:
      int nr_coeff_;

      void performReconstruction (PointCloudIn &output);

      std::string getClassName () const { return ("MovingLeastSquares"); }
  };
}

#endif  //#ifndef PCL_MLS_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013