Point Cloud Library (PCL)  1.3.1
surfel_smoothing.h
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00001 /*
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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_ */
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