surfel_smoothing.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2011, Alexandru-Eugen Ichim
00005  *                      Willow Garage, Inc
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00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035  * $Id: surfel_smoothing.h 5060 2012-03-14 02:19:39Z rusu $
00036  */
00037 
00038 #ifndef PCL_SURFEL_SMOOTHING_H_
00039 #define PCL_SURFEL_SMOOTHING_H_
00040 
00041 #include <pcl/pcl_base.h>
00042 #include <pcl/search/pcl_search.h>
00043 
00044 namespace pcl
00045 {
00046   template <typename PointT, typename PointNT>
00047   class SurfelSmoothing : public PCLBase<PointT>
00048   {
00049     using PCLBase<PointT>::input_;
00050     using PCLBase<PointT>::initCompute;
00051 
00052     public:
00053       typedef pcl::PointCloud<PointT> PointCloudIn;
00054       typedef typename pcl::PointCloud<PointT>::Ptr PointCloudInPtr;
00055       typedef pcl::PointCloud<PointNT> NormalCloud;
00056       typedef typename pcl::PointCloud<PointNT>::Ptr NormalCloudPtr;
00057       typedef pcl::search::Search<PointT> CloudKdTree;
00058       typedef typename pcl::search::Search<PointT>::Ptr CloudKdTreePtr;
00059 
00060       SurfelSmoothing (float a_scale = 0.01)
00061         : PCLBase<PointT> ()
00062         , scale_ (a_scale)
00063         , scale_squared_ (a_scale * a_scale)
00064         , normals_ ()
00065         , interm_cloud_ ()
00066         , interm_normals_ ()
00067         , tree_ ()
00068       {
00069       }
00070 
00071       void
00072       setInputNormals (NormalCloudPtr &a_normals) { normals_ = a_normals; };
00073 
00074       void
00075       setSearchMethod (const CloudKdTreePtr &a_tree) { tree_ = a_tree; };
00076 
00077       bool
00078       initCompute ();
00079 
00080       float
00081       smoothCloudIteration (PointCloudInPtr &output_positions,
00082                             NormalCloudPtr &output_normals);
00083 
00084       void
00085       computeSmoothedCloud (PointCloudInPtr &output_positions,
00086                             NormalCloudPtr &output_normals);
00087 
00088 
00089       void
00090       smoothPoint (size_t &point_index,
00091                    PointT &output_point,
00092                    PointNT &output_normal);
00093 
00094       void
00095       extractSalientFeaturesBetweenScales (PointCloudInPtr &cloud2,
00096                                            NormalCloudPtr &cloud2_normals,
00097                                            boost::shared_ptr<std::vector<int> > &output_features);
00098 
00099     private:
00100       float scale_, scale_squared_;
00101       NormalCloudPtr normals_;
00102 
00103       PointCloudInPtr interm_cloud_;
00104       NormalCloudPtr interm_normals_;
00105 
00106       CloudKdTreePtr tree_;
00107 
00108   };
00109 }
00110 
00111 #endif /* PCL_SURFEL_SMOOTHING_H_ */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:09