Public Types | Public Member Functions | Private Attributes
pcl::SurfelSmoothing< PointT, PointNT > Class Template Reference

#include <surfel_smoothing.h>

Inheritance diagram for pcl::SurfelSmoothing< PointT, PointNT >:
Inheritance graph
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List of all members.

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< PointTPointCloudIn
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

template<typename PointT, typename PointNT>
typedef pcl::search::Search<PointT> pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTree

Definition at line 57 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
typedef pcl::search::Search<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTreePtr

Definition at line 58 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointNT> pcl::SurfelSmoothing< PointT, PointNT >::NormalCloud

Definition at line 55 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointNT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::NormalCloudPtr

Definition at line 56 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointT> pcl::SurfelSmoothing< PointT, PointNT >::PointCloudIn

Definition at line 53 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
typedef pcl::PointCloud<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::PointCloudInPtr

Definition at line 54 of file surfel_smoothing.h.


Constructor & Destructor Documentation

template<typename PointT, typename PointNT>
pcl::SurfelSmoothing< PointT, PointNT >::SurfelSmoothing ( float  a_scale = 0.01) [inline]

Definition at line 60 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>
void pcl::SurfelSmoothing< PointT, PointNT >::setInputNormals ( NormalCloudPtr a_normals) [inline]

Definition at line 72 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
void pcl::SurfelSmoothing< PointT, PointNT >::setSearchMethod ( const CloudKdTreePtr a_tree) [inline]

Definition at line 75 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.

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.


Member Data Documentation

template<typename PointT, typename PointNT>
PointCloudInPtr pcl::SurfelSmoothing< PointT, PointNT >::interm_cloud_ [private]

Definition at line 103 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
NormalCloudPtr pcl::SurfelSmoothing< PointT, PointNT >::interm_normals_ [private]

Definition at line 104 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
NormalCloudPtr pcl::SurfelSmoothing< PointT, PointNT >::normals_ [private]

Definition at line 101 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
float pcl::SurfelSmoothing< PointT, PointNT >::scale_ [private]

Definition at line 100 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
float pcl::SurfelSmoothing< PointT, PointNT >::scale_squared_ [private]

Definition at line 100 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>
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:


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:17