pyramid.h

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#ifndef PCL_FILTERS_PYRAMID_H_
#define PCL_FILTERS_PYRAMID_H_

#include <pcl/common/point_operators.h>
#include <pcl/point_cloud.h>
#include <pcl/pcl_config.h>

namespace pcl
{
  namespace filters
  {
    template <typename PointT>
    class Pyramid
    {
      public:
        typedef typename PointCloud<PointT>::Ptr PointCloudPtr;
        typedef typename PointCloud<PointT>::ConstPtr PointCloudConstPtr;
        typedef boost::shared_ptr< Pyramid<PointT> > Ptr;
        typedef boost::shared_ptr< const Pyramid<PointT> > ConstPtr;
 
        Pyramid (int levels = 4)
          : levels_ (levels)
          , large_ (false)
          , threshold_ (0.01)
          , threads_ (0)
        {
          name_ = "Pyramid";
        }
      
        inline void 
        setInputCloud (const PointCloudConstPtr &cloud) { input_ = cloud; }

        inline PointCloudConstPtr const 
        getInputCloud () { return (input_); }
      
        inline void
        setNumberOfLevels (int levels) { levels_ = levels; }
      
        inline int
        getNumberOfLevels () const { return (levels_); }

        inline void
        setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }

        inline void
        setLargeSmoothingKernel (bool large) { large_ = large; }
      
        inline void
        setDistanceThreshold (float threshold) { threshold_ = threshold; }

        inline float
        getDistanceThreshold () const { return (threshold_); }

        void
        compute (std::vector<PointCloudPtr>& output);

        inline const std::string&
        getClassName () const { return (name_); }
      
      private:

        bool 
        initCompute ();

        inline void
        nullify (PointT& p) const
        {
          p.x = p.y = p.z = std::numeric_limits<float>::quiet_NaN ();
        }

        PointCloudConstPtr input_;
        int levels_;
        bool large_;
        std::string name_;
        Eigen::MatrixXf kernel_;
        float threshold_;
        unsigned int threads_;

      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#endif