Class MovingLeastSquares

Inheritance Relationships

Base Type

  • public PCLNodelet

Class Documentation

class MovingLeastSquares : public PCLNodelet

MovingLeastSquares represents a nodelet using the MovingLeastSquares implementation. The type of the output is the same as the input, it only smooths the XYZ coordinates according to the parameters. Normals are estimated at each point as well and published on a separate topic.

Author

Radu Bogdan Rusu, Zoltan-Csaba Marton

Protected Functions

void config_callback(MLSConfig &config, uint32_t level)

Dynamic reconfigure callback.

Parameters:

  • config – the config object

  • level – the dynamic reconfigure level

virtual void onInit()

Nodelet initialization routine.

virtual void subscribe()

LazyNodelet connection routine.

virtual void unsubscribe()

Protected Attributes

PointCloudInConstPtr surface_

An input point cloud describing the surface that is to be used for nearest neighbors estimation.

KdTreePtr tree_

A pointer to the spatial search object.

double search_radius_

The nearest neighbors search radius for each point.

bool use_polynomial_fit_

The number of K nearest neighbors to use for each point.

Whether to use a polynomial fit.

int polynomial_order_

The order of the polynomial to be fit.

double gaussian_parameter_

How ‘flat’ should the neighbor weighting gaussian be the smaller, the more local the fit).

message_filters::Subscriber<PointCloudIn> sub_surface_filter_

The surface PointCloud subscriber filter.

int spatial_locator_type_

Parameter for the spatial locator tree. By convention, the values represent: 0: ANN (Approximate Nearest Neigbor library) kd-tree 1: FLANN (Fast Library for Approximate Nearest Neighbors) kd-tree 2: Organized spatial dataset index.

boost::shared_ptr<dynamic_reconfigure::Server<MLSConfig>> srv_

Pointer to a dynamic reconfigure service.