#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 ()

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. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

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

Definition at line 74 of file pcl_base.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::PCLBase< PointT >::PointCloudConstPtr

inherited

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

Definition at line 75 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr

inherited

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 ( )

inlineinherited

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 ( )

inlineinherited

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 ( )

Definition at line 46 of file surfel_smoothing.hpp.

template<typename PointT>

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

inlineinherited

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 )

inlineinherited

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 )

inlineinherited

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 )

inlineinherited

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
	)

inlineinherited

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 )

inlinevirtualinherited

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:

/builddir/build/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/surfel_smoothing.h
/builddir/build/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 >