Point Cloud Library (PCL)  1.3.1
mls.h
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00001 /*
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00036  * $Id: mls.h 3031 2011-11-01 04:25:15Z rusu $
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00039 
00040 #ifndef PCL_MLS_H_
00041 #define PCL_MLS_H_
00042 
00043 // PCL includes
00044 #include <pcl/pcl_base.h>
00045 #include <boost/bind.hpp>
00046 #include <boost/function.hpp>
00047 #include "pcl/search/pcl_search.h"
00048 
00049 #include <Eigen/SVD>
00050 
00051 namespace pcl
00052 {
00054 
00059   template <typename PointInT, typename NormalOutT>
00060   class MovingLeastSquares : public PCLBase<PointInT>
00061   {
00062     using PCLBase<PointInT>::input_;
00063     using PCLBase<PointInT>::indices_;
00064     using PCLBase<PointInT>::fake_indices_;
00065     using PCLBase<PointInT>::initCompute;
00066     using PCLBase<PointInT>::deinitCompute;
00067 
00068     public:
00069       typedef typename pcl::search::Search<PointInT> KdTree;
00070       typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;
00071 
00072       typedef pcl::PointCloud<NormalOutT> NormalCloudOut;
00073       typedef typename NormalCloudOut::Ptr NormalCloudOutPtr;
00074       typedef typename NormalCloudOut::ConstPtr NormalCloudOutConstPtr;
00075 
00076       typedef pcl::PointCloud<PointInT> PointCloudIn;
00077       typedef typename PointCloudIn::Ptr PointCloudInPtr;
00078       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
00079 
00080       typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
00081 
00083       MovingLeastSquares () : PCLBase<PointInT> (), tree_ (), order_ (2), polynomial_fit_ (true), search_radius_ (0), sqr_gauss_param_ (0) {};
00084 
00089       inline void 
00090       setOutputNormals (NormalCloudOutPtr cloud) { normals_ = cloud; }
00091 
00093       inline NormalCloudOutPtr 
00094       getOutputNormals () { return normals_; }
00095 
00099       inline void
00100       setSearchMethod (const KdTreePtr &tree)
00101       {
00102         tree_ = tree;
00103         // Declare the search locator definition
00104         int (KdTree::*radiusSearch)(int index, double radius, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances, int max_nn) const = &KdTree::radiusSearch;
00105         search_method_ = boost::bind (radiusSearch, boost::ref (tree_), _1, _2, _3, _4, INT_MAX);
00106       }
00107 
00109       inline KdTreePtr 
00110       getSearchMethod () { return (tree_); }
00111 
00115       inline void 
00116       setPolynomialOrder (int order) { order_ = order; }
00117 
00119       inline int 
00120       getPolynomialOrder () { return (order_); }
00121 
00125       inline void 
00126       setPolynomialFit (bool polynomial_fit) { polynomial_fit_ = polynomial_fit; }
00127 
00129       inline bool 
00130       getPolynomialFit () { return (polynomial_fit_); }
00131 
00136       inline void 
00137       setSearchRadius (double radius) { search_radius_ = radius; sqr_gauss_param_ = search_radius_ * search_radius_; }
00138 
00140       inline double 
00141       getSearchRadius () { return (search_radius_); }
00142 
00147       inline void 
00148       setSqrGaussParam (double sqr_gauss_param) { sqr_gauss_param_ = sqr_gauss_param; }
00149 
00151       inline double 
00152       getSqrGaussParam () { return (sqr_gauss_param_); }
00153 
00157       void 
00158       reconstruct (PointCloudIn &output);
00159 
00160     protected:
00162       NormalCloudOutPtr normals_;
00163 
00165       SearchMethod search_method_;
00166 
00168       KdTreePtr tree_;
00169 
00171       int order_;
00172 
00174       bool polynomial_fit_;
00175 
00177       double search_radius_;
00178 
00180       double sqr_gauss_param_;
00181 
00187       inline int
00188       searchForNeighbors (int index, std::vector<int> &indices, std::vector<float> &sqr_distances)
00189       {
00190         return (search_method_ (index, search_radius_, indices, sqr_distances));
00191       }
00192 
00193     private:
00195       int nr_coeff_;
00196 
00198       void performReconstruction (PointCloudIn &output);
00199 
00201       std::string getClassName () const { return ("MovingLeastSquares"); }
00202   };
00203 }
00204 
00205 #endif  //#ifndef PCL_MLS_H_
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