Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Alexandru-Eugen Ichim 00005 * Willow Garage, Inc 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 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 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id$ 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 normals_ (), 00064 tree_ () 00065 { 00066 scale_squared_ = scale_ * scale_; 00067 } 00068 00069 void 00070 setInputNormals (NormalCloudPtr &a_normals) { normals_ = a_normals; }; 00071 00072 void 00073 setSearchMethod (const CloudKdTreePtr &a_tree) { tree_ = a_tree; }; 00074 00075 bool 00076 initCompute (); 00077 00078 float 00079 smoothCloudIteration (PointCloudInPtr &output_positions, 00080 NormalCloudPtr &output_normals); 00081 00082 void 00083 computeSmoothedCloud (PointCloudInPtr &output_positions, 00084 NormalCloudPtr &output_normals); 00085 00086 00087 void 00088 smoothPoint (size_t &point_index, 00089 PointT &output_point, 00090 PointNT &output_normal); 00091 00092 void 00093 extractSalientFeaturesBetweenScales (PointCloudInPtr &cloud2, 00094 NormalCloudPtr &cloud2_normals, 00095 boost::shared_ptr<std::vector<int> > &output_features); 00096 00097 private: 00098 float scale_, scale_squared_; 00099 NormalCloudPtr normals_; 00100 00101 PointCloudInPtr interm_cloud_; 00102 NormalCloudPtr interm_normals_; 00103 00104 CloudKdTreePtr tree_; 00105 00106 }; 00107 } 00108 00109 #endif /* PCL_SURFEL_SMOOTHING_H_ */