Point Cloud Library (PCL)
1.3.1
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#include <pcl/surface/surfel_smoothing.h>
Public Types | |
typedef pcl::PointCloud< PointT > | PointCloudIn |
typedef pcl::PointCloud < PointT >::Ptr | PointCloudInPtr |
typedef pcl::PointCloud< PointNT > | NormalCloud |
typedef pcl::PointCloud < PointNT >::Ptr | NormalCloudPtr |
typedef pcl::search::Search < PointT > | CloudKdTree |
typedef pcl::search::Search < PointT >::Ptr | CloudKdTreePtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
SurfelSmoothing (float a_scale=0.01) | |
void | setInputNormals (NormalCloudPtr &a_normals) |
void | setSearchMethod (const CloudKdTreePtr &a_tree) |
bool | initCompute () |
This method should get called before starting the actual computation. | |
float | smoothCloudIteration (PointCloudInPtr &output_positions, NormalCloudPtr &output_normals) |
void | computeSmoothedCloud (PointCloudInPtr &output_positions, NormalCloudPtr &output_normals) |
void | smoothPoint (size_t &point_index, PointT &output_point, PointNT &output_normal) |
void | extractSalientFeaturesBetweenScales (PointCloudInPtr &cloud2, NormalCloudPtr &cloud2_normals, boost::shared_ptr< std::vector< int > > &output_features) |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. |
typedef pcl::search::Search<PointT> pcl::SurfelSmoothing::CloudKdTree |
Definition at line 57 of file surfel_smoothing.h.
typedef pcl::search::Search<PointT>::Ptr pcl::SurfelSmoothing::CloudKdTreePtr |
Definition at line 58 of file surfel_smoothing.h.
typedef pcl::PointCloud<PointNT> pcl::SurfelSmoothing::NormalCloud |
Definition at line 55 of file surfel_smoothing.h.
typedef pcl::PointCloud<PointNT>::Ptr pcl::SurfelSmoothing::NormalCloudPtr |
Definition at line 56 of file surfel_smoothing.h.
typedef pcl::PointCloud<PointT> pcl::PCLBase::PointCloud [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::Filter, pcl::SegmentDifferences, pcl::LabeledEuclideanClusterExtraction, pcl::registration::ELCH, pcl::SACSegmentation, and pcl::registration::IncrementalRegistration.
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase::PointCloudConstPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::Filter, pcl::SegmentDifferences, pcl::LabeledEuclideanClusterExtraction, pcl::registration::ELCH, pcl::SACSegmentation, and pcl::registration::IncrementalRegistration.
Definition at line 76 of file pcl_base.h.
typedef pcl::PointCloud<PointT> pcl::SurfelSmoothing::PointCloudIn |
Definition at line 53 of file surfel_smoothing.h.
typedef pcl::PointCloud<PointT>::Ptr pcl::SurfelSmoothing::PointCloudInPtr |
Definition at line 54 of file surfel_smoothing.h.
typedef PointCloud::Ptr pcl::PCLBase::PointCloudPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::Filter, pcl::SegmentDifferences, pcl::LabeledEuclideanClusterExtraction, pcl::registration::ELCH, pcl::SACSegmentation, and pcl::registration::IncrementalRegistration.
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase::PointIndicesConstPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::SegmentDifferences, and pcl::LabeledEuclideanClusterExtraction.
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase::PointIndicesPtr [inherited] |
Reimplemented in pcl::EuclideanClusterExtraction, pcl::ExtractPolygonalPrismData, pcl::SegmentDifferences, and pcl::LabeledEuclideanClusterExtraction.
Definition at line 78 of file pcl_base.h.
pcl::SurfelSmoothing::SurfelSmoothing | ( | float | a_scale = 0.01 | ) | [inline] |
Definition at line 60 of file surfel_smoothing.h.
void pcl::SurfelSmoothing::computeSmoothedCloud | ( | PointCloudInPtr & | output_positions, |
NormalCloudPtr & | output_normals | ||
) |
Definition at line 243 of file surfel_smoothing.hpp.
void pcl::SurfelSmoothing::extractSalientFeaturesBetweenScales | ( | PointCloudInPtr & | cloud2, |
NormalCloudPtr & | cloud2_normals, | ||
boost::shared_ptr< std::vector< int > > & | output_features | ||
) |
Definition at line 272 of file surfel_smoothing.hpp.
IndicesPtr const pcl::PCLBase::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 171 of file pcl_base.h.
PointCloudConstPtr const pcl::PCLBase::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 99 of file pcl_base.h.
bool pcl::SurfelSmoothing::initCompute | ( | ) |
This method should get called before starting the actual computation.
Internally, initCompute() does the following:
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 45 of file surfel_smoothing.hpp.
const PointT& pcl::PCLBase::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
pos | position in indices_ vector |
Definition at line 178 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 105 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 116 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | size_t | row_start, |
size_t | col_start, | ||
size_t | nb_rows, | ||
size_t | nb_cols | ||
) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
row_start | the offset on rows |
col_start | the offset on columns |
nb_rows | the number of rows to be considered row_start included |
nb_cols | the number of columns to be considered col_start included |
Definition at line 132 of file pcl_base.h.
virtual void pcl::PCLBase::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 95 of file pcl_base.h.
void pcl::SurfelSmoothing::setInputNormals | ( | NormalCloudPtr & | a_normals | ) | [inline] |
Definition at line 70 of file surfel_smoothing.h.
void pcl::SurfelSmoothing::setSearchMethod | ( | const CloudKdTreePtr & | a_tree | ) | [inline] |
Definition at line 73 of file surfel_smoothing.h.
float pcl::SurfelSmoothing::smoothCloudIteration | ( | PointCloudInPtr & | output_positions, |
NormalCloudPtr & | output_normals | ||
) |
Definition at line 81 of file surfel_smoothing.hpp.
void pcl::SurfelSmoothing::smoothPoint | ( | size_t & | point_index, |
PointT & | output_point, | ||
PointNT & | output_normal | ||
) |
Definition at line 157 of file surfel_smoothing.hpp.