linear_least_squares_normal.h
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00038 
00039 #ifndef PCL_FEATURES_LINEAR_LEAST_SQUARES_NORMAL_H_
00040 #define PCL_FEATURES_LINEAR_LEAST_SQUARES_NORMAL_H_
00041 
00042 #include <pcl/point_cloud.h>
00043 #include <pcl/point_types.h>
00044 #include <pcl/features/feature.h>
00045 
00046 namespace pcl
00047 {
00051   template <typename PointInT, typename PointOutT>
00052   class LinearLeastSquaresNormalEstimation : public Feature<PointInT, PointOutT>
00053   {
00054     public:
00055       typedef boost::shared_ptr<LinearLeastSquaresNormalEstimation<PointInT, PointOutT> > Ptr;
00056       typedef boost::shared_ptr<const LinearLeastSquaresNormalEstimation<PointInT, PointOutT> > ConstPtr;
00057       typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;
00058       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00059       using Feature<PointInT, PointOutT>::input_;
00060       using Feature<PointInT, PointOutT>::feature_name_;
00061       using Feature<PointInT, PointOutT>::tree_;
00062       using Feature<PointInT, PointOutT>::k_;
00063 
00065       LinearLeastSquaresNormalEstimation () :
00066           use_depth_dependent_smoothing_(false),
00067           max_depth_change_factor_(1.0f),
00068           normal_smoothing_size_(9.0f)
00069       {
00070           feature_name_ = "LinearLeastSquaresNormalEstimation";
00071           tree_.reset ();
00072           k_ = 1;
00073       };
00074 
00076       virtual ~LinearLeastSquaresNormalEstimation ();
00077 
00083       void
00084       computePointNormal (const int pos_x, const int pos_y, PointOutT &normal);
00085 
00090       void
00091       setNormalSmoothingSize (float normal_smoothing_size)
00092       {
00093         normal_smoothing_size_ = normal_smoothing_size;
00094       }
00095 
00099       void
00100       setDepthDependentSmoothing (bool use_depth_dependent_smoothing)
00101       {
00102         use_depth_dependent_smoothing_ = use_depth_dependent_smoothing;
00103       }
00104 
00109       void 
00110       setMaxDepthChangeFactor (float max_depth_change_factor)
00111       {
00112         max_depth_change_factor_ = max_depth_change_factor;
00113       }
00114 
00118       virtual inline void 
00119       setInputCloud (const typename PointCloudIn::ConstPtr &cloud) 
00120       { 
00121         input_ = cloud; 
00122       }
00123 
00124     protected:
00128       void 
00129       computeFeature (PointCloudOut &output);
00130 
00131     private:
00132 
00134       //float distance_threshold_;
00135 
00137       bool use_depth_dependent_smoothing_;
00138 
00140       float max_depth_change_factor_;
00141 
00143       float normal_smoothing_size_;
00144   };
00145 }
00146 
00147 #ifdef PCL_NO_PRECOMPILE
00148 #include <pcl/features/impl/linear_least_squares_normal.hpp>
00149 #endif
00150 
00151 #endif 
00152 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:25:13