#include <surfel_smoothing.h>
Public Types | |
| typedef pcl::search::Search < PointT > | CloudKdTree |
| typedef pcl::search::Search < PointT >::Ptr | CloudKdTreePtr |
| typedef pcl::PointCloud< PointNT > | NormalCloud |
| typedef pcl::PointCloud < PointNT >::Ptr | NormalCloudPtr |
| typedef pcl::PointCloud< PointT > | PointCloudIn |
| typedef pcl::PointCloud < PointT >::Ptr | PointCloudInPtr |
Public Member Functions | |
| void | computeSmoothedCloud (PointCloudInPtr &output_positions, NormalCloudPtr &output_normals) |
| void | extractSalientFeaturesBetweenScales (PointCloudInPtr &cloud2, NormalCloudPtr &cloud2_normals, boost::shared_ptr< std::vector< int > > &output_features) |
| bool | initCompute () |
| This method should get called before starting the actual computation. | |
| void | setInputNormals (NormalCloudPtr &a_normals) |
| void | setSearchMethod (const CloudKdTreePtr &a_tree) |
| float | smoothCloudIteration (PointCloudInPtr &output_positions, NormalCloudPtr &output_normals) |
| void | smoothPoint (size_t &point_index, PointT &output_point, PointNT &output_normal) |
| SurfelSmoothing (float a_scale=0.01) | |
Private Attributes | |
| PointCloudInPtr | interm_cloud_ |
| NormalCloudPtr | interm_normals_ |
| NormalCloudPtr | normals_ |
| float | scale_ |
| float | scale_squared_ |
| CloudKdTreePtr | tree_ |
Detailed Description
template<typename PointT, typename PointNT>
class pcl::SurfelSmoothing< PointT, PointNT >
Definition at line 47 of file surfel_smoothing.h.
Member Typedef Documentation
| typedef pcl::search::Search<PointT> pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTree |
Definition at line 57 of file surfel_smoothing.h.
| typedef pcl::search::Search<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTreePtr |
Definition at line 58 of file surfel_smoothing.h.
| typedef pcl::PointCloud<PointNT> pcl::SurfelSmoothing< PointT, PointNT >::NormalCloud |
Definition at line 55 of file surfel_smoothing.h.
| typedef pcl::PointCloud<PointNT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::NormalCloudPtr |
Definition at line 56 of file surfel_smoothing.h.
| typedef pcl::PointCloud<PointT> pcl::SurfelSmoothing< PointT, PointNT >::PointCloudIn |
Definition at line 53 of file surfel_smoothing.h.
| typedef pcl::PointCloud<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::PointCloudInPtr |
Definition at line 54 of file surfel_smoothing.h.
Constructor & Destructor Documentation
| pcl::SurfelSmoothing< PointT, PointNT >::SurfelSmoothing | ( | float | a_scale = 0.01 | ) | [inline] |
Definition at line 60 of file surfel_smoothing.h.
Member Function Documentation
| void pcl::SurfelSmoothing< PointT, PointNT >::computeSmoothedCloud | ( | PointCloudInPtr & | output_positions, |
| NormalCloudPtr & | output_normals | ||
| ) |
Definition at line 244 of file surfel_smoothing.hpp.
| 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.
| 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.
| void pcl::SurfelSmoothing< PointT, PointNT >::setInputNormals | ( | NormalCloudPtr & | a_normals | ) | [inline] |
Definition at line 72 of file surfel_smoothing.h.
| void pcl::SurfelSmoothing< PointT, PointNT >::setSearchMethod | ( | const CloudKdTreePtr & | a_tree | ) | [inline] |
Definition at line 75 of file surfel_smoothing.h.
| float pcl::SurfelSmoothing< PointT, PointNT >::smoothCloudIteration | ( | PointCloudInPtr & | output_positions, |
| NormalCloudPtr & | output_normals | ||
| ) |
Definition at line 82 of file surfel_smoothing.hpp.
| 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.
Member Data Documentation
PointCloudInPtr pcl::SurfelSmoothing< PointT, PointNT >::interm_cloud_ [private] |
Definition at line 103 of file surfel_smoothing.h.
NormalCloudPtr pcl::SurfelSmoothing< PointT, PointNT >::interm_normals_ [private] |
Definition at line 104 of file surfel_smoothing.h.
NormalCloudPtr pcl::SurfelSmoothing< PointT, PointNT >::normals_ [private] |
Definition at line 101 of file surfel_smoothing.h.
float pcl::SurfelSmoothing< PointT, PointNT >::scale_ [private] |
Definition at line 100 of file surfel_smoothing.h.
float pcl::SurfelSmoothing< PointT, PointNT >::scale_squared_ [private] |
Definition at line 100 of file surfel_smoothing.h.
CloudKdTreePtr pcl::SurfelSmoothing< PointT, PointNT >::tree_ [private] |
Definition at line 106 of file surfel_smoothing.h.
The documentation for this class was generated from the following files: