#include <surfel_smoothing.h>

Inheritance diagram for pcl::SurfelSmoothing< PointT, PointNT >:

Public Types
typedef pcl::search::Search < PointT >	CloudKdTree
typedef pcl::search::Search < PointT >::Ptr	CloudKdTreePtr
typedef boost::shared_ptr < const SurfelSmoothing < PointT, PointNT > >	ConstPtr
typedef pcl::PointCloud< PointNT >	NormalCloud
typedef pcl::PointCloud < PointNT >::Ptr	NormalCloudPtr
typedef pcl::PointCloud< PointT >	PointCloudIn
typedef pcl::PointCloud < PointT >::Ptr	PointCloudInPtr
typedef boost::shared_ptr < SurfelSmoothing< PointT, PointNT > >	Ptr
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 60 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>

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

Definition at line 61 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<const SurfelSmoothing<PointT, PointNT> > pcl::SurfelSmoothing< PointT, PointNT >::ConstPtr

Definition at line 54 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>

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

Definition at line 58 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>

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

Definition at line 59 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>

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

Definition at line 56 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>

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

Definition at line 57 of file surfel_smoothing.h.

template<typename PointT, typename PointNT>

typedef boost::shared_ptr<SurfelSmoothing<PointT, PointNT> > pcl::SurfelSmoothing< PointT, PointNT >::Ptr

Definition at line 53 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 63 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]