surfel_smoothing.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Alexandru-Eugen Ichim
 *                      Willow Garage, Inc
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
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 * $Id: surfel_smoothing.h 5060 2012-03-14 02:19:39Z rusu $
 */

#ifndef PCL_SURFEL_SMOOTHING_H_
#define PCL_SURFEL_SMOOTHING_H_

#include <pcl/pcl_base.h>
#include <pcl/search/pcl_search.h>

namespace pcl
{
  template <typename PointT, typename PointNT>
  class SurfelSmoothing : public PCLBase<PointT>
  {
    using PCLBase<PointT>::input_;
    using PCLBase<PointT>::initCompute;

    public:
      typedef pcl::PointCloud<PointT> PointCloudIn;
      typedef typename pcl::PointCloud<PointT>::Ptr PointCloudInPtr;
      typedef pcl::PointCloud<PointNT> NormalCloud;
      typedef typename pcl::PointCloud<PointNT>::Ptr NormalCloudPtr;
      typedef pcl::search::Search<PointT> CloudKdTree;
      typedef typename pcl::search::Search<PointT>::Ptr CloudKdTreePtr;

      SurfelSmoothing (float a_scale = 0.01)
        : PCLBase<PointT> ()
        , scale_ (a_scale)
        , scale_squared_ (a_scale * a_scale)
        , normals_ ()
        , interm_cloud_ ()
        , interm_normals_ ()
        , tree_ ()
      {
      }

      void
      setInputNormals (NormalCloudPtr &a_normals) { normals_ = a_normals; };

      void
      setSearchMethod (const CloudKdTreePtr &a_tree) { tree_ = 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);

    private:
      float scale_, scale_squared_;
      NormalCloudPtr normals_;

      PointCloudInPtr interm_cloud_;
      NormalCloudPtr interm_normals_;

      CloudKdTreePtr tree_;

  };
}

#endif /* PCL_SURFEL_SMOOTHING_H_ */