#include <pcl/surface/surfel_smoothing.h>

Inheritance diagram for pcl::SurfelSmoothing< PointT, PointNT >:

Collaboration diagram for pcl::SurfelSmoothing< PointT, PointNT >:

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 IndicesConstPtr &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.

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SurfelSmoothing< PointT, PointNT >

Definition at line 47 of file surfel_smoothing.h.

Member Typedef Documentation

template<typename PointT , typename PointNT >

typedef pcl::search::Search<PointT> pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTree

Definition at line 57 of file surfel_smoothing.h.

template<typename PointT , typename PointNT >

typedef pcl::search::Search<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTreePtr

Definition at line 58 of file surfel_smoothing.h.

template<typename PointT , typename PointNT >

typedef pcl::PointCloud<PointNT> pcl::SurfelSmoothing< PointT, PointNT >::NormalCloud

Definition at line 55 of file surfel_smoothing.h.

template<typename PointT , typename PointNT >

typedef pcl::PointCloud<PointNT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::NormalCloudPtr

Definition at line 56 of file surfel_smoothing.h.

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::PCLBase< PointT >::PointCloud [inherited]

Reimplemented in pcl::SACSegmentationFromNormals< PointT, PointNT >, pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::Filter< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SACSegmentation< PointT >, pcl::FilterIndices< PointT >, pcl::registration::ELCH< PointT >, pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >, pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >, and pcl::PCA< PointT >.

Definition at line 74 of file pcl_base.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::PCLBase< PointT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::SACSegmentationFromNormals< PointT, PointNT >, pcl::EuclideanClusterExtraction< PointT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::NormalEstimation< PointInT, pcl::Normal >, pcl::ExtractPolygonalPrismData< PointT >, pcl::Filter< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SACSegmentation< PointT >, pcl::registration::ELCH< PointT >, pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >, pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >, and pcl::PCA< PointT >.

Definition at line 76 of file pcl_base.h.

template<typename PointT , typename PointNT >

typedef pcl::PointCloud<PointT> pcl::SurfelSmoothing< PointT, PointNT >::PointCloudIn

Definition at line 53 of file surfel_smoothing.h.

template<typename PointT , typename PointNT >

typedef pcl::PointCloud<PointT>::Ptr pcl::SurfelSmoothing< PointT, PointNT >::PointCloudInPtr

Definition at line 54 of file surfel_smoothing.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::PCLBase< PointT >::PointCloudPtr [inherited]

Reimplemented in pcl::MarchingCubes< PointNT >, pcl::SACSegmentationFromNormals< PointT, PointNT >, pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::Filter< PointT >, pcl::GridProjection< PointNT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SACSegmentation< PointT >, pcl::registration::ELCH< PointT >, pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >, pcl::OrganizedConnectedComponentSegmentation< PointT, PointLT >, pcl::MarchingCubesRBF< PointNT >, pcl::PCA< PointT >, pcl::MarchingCubesHoppe< PointNT >, pcl::OrganizedFastMesh< PointInT >, and pcl::Poisson< PointNT >.

Definition at line 75 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT >

pcl::SurfelSmoothing< PointT, PointNT >::SurfelSmoothing ( float a_scale = 0.01 ) [inline]

Definition at line 60 of file surfel_smoothing.h.

Member Function Documentation

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::computeSmoothedCloud	(	PointCloudInPtr &	output_positions,
		NormalCloudPtr &	output_normals
	)

Definition at line 244 of file surfel_smoothing.hpp.

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::extractSalientFeaturesBetweenScales	(	PointCloudInPtr &	cloud2,
		NormalCloudPtr &	cloud2_normals,
		boost::shared_ptr< std::vector< int > > &	output_features
	)

Definition at line 273 of file surfel_smoothing.hpp.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT , typename PointNT >

bool pcl::SurfelSmoothing< PointT, PointNT >::initCompute ( )

This method should get called before starting the actual computation.

Internally, initCompute() does the following:

checks if an input dataset is given, and returns false otherwise
checks whether a set of input indices has been given. Returns true if yes.
if no input indices have been given, a fake set is created, which will be used until:
- either a new set is given via setIndices(), or
- a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 46 of file surfel_smoothing.hpp.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::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.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

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 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::setInputNormals ( NormalCloudPtr & a_normals ) [inline]

Definition at line 72 of file surfel_smoothing.h.

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::setSearchMethod ( const CloudKdTreePtr & a_tree ) [inline]

Definition at line 75 of file surfel_smoothing.h.

template<typename PointT , typename PointNT >

float pcl::SurfelSmoothing< PointT, PointNT >::smoothCloudIteration	(	PointCloudInPtr &	output_positions,
		NormalCloudPtr &	output_normals
	)

Definition at line 82 of file surfel_smoothing.hpp.

template<typename PointT , typename PointNT >

void pcl::SurfelSmoothing< PointT, PointNT >::smoothPoint	(	size_t &	point_index,
		PointT &	output_point,
		PointNT &	output_normal
	)

Definition at line 158 of file surfel_smoothing.hpp.

The documentation for this class was generated from the following files:

/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/surfel_smoothing.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/impl/surfel_smoothing.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename PointNT> class pcl::SurfelSmoothing< PointT, PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename PointNT>
class pcl::SurfelSmoothing< PointT, PointNT >