linear_least_squares_normal.h

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#ifndef PCL_FEATURES_LINEAR_LEAST_SQUARES_NORMAL_H_
#define PCL_FEATURES_LINEAR_LEAST_SQUARES_NORMAL_H_

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT>
  class LinearLeastSquaresNormalEstimation : public Feature<PointInT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<LinearLeastSquaresNormalEstimation<PointInT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const LinearLeastSquaresNormalEstimation<PointInT, PointOutT> > ConstPtr;
      typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;
      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::tree_;
      using Feature<PointInT, PointOutT>::k_;

      LinearLeastSquaresNormalEstimation () :
          use_depth_dependent_smoothing_(false),
          max_depth_change_factor_(1.0f),
          normal_smoothing_size_(9.0f)
      {
          feature_name_ = "LinearLeastSquaresNormalEstimation";
          tree_.reset ();
          k_ = 1;
      };

      virtual ~LinearLeastSquaresNormalEstimation ();

      void
      computePointNormal (const int pos_x, const int pos_y, PointOutT &normal);

      void
      setNormalSmoothingSize (float normal_smoothing_size)
      {
        normal_smoothing_size_ = normal_smoothing_size;
      }

      void
      setDepthDependentSmoothing (bool use_depth_dependent_smoothing)
      {
        use_depth_dependent_smoothing_ = use_depth_dependent_smoothing;
      }

      void 
      setMaxDepthChangeFactor (float max_depth_change_factor)
      {
        max_depth_change_factor_ = max_depth_change_factor;
      }

      virtual inline void 
      setInputCloud (const typename PointCloudIn::ConstPtr &cloud) 
      { 
        input_ = cloud; 
      }

    protected:
      void 
      computeFeature (PointCloudOut &output);

    private:

      //float distance_threshold_;

      bool use_depth_dependent_smoothing_;

      float max_depth_change_factor_;

      float normal_smoothing_size_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/linear_least_squares_normal.hpp>
#endif

#endif