#include <pcl/surface/surfel_smoothing.h>

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

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

Public Types
using	Ptr = shared_ptr<SurfelSmoothing<PointT, PointNT> >
using	ConstPtr = shared_ptr<const SurfelSmoothing<PointT, PointNT> >
using	PointCloudIn = pcl::PointCloud<PointT>
using	PointCloudInPtr = typename pcl::PointCloud<PointT>::Ptr
using	NormalCloud = pcl::PointCloud<PointNT>
using	NormalCloudPtr = typename pcl::PointCloud<PointNT>::Ptr
using	CloudKdTree = pcl::search::Search<PointT>
using	CloudKdTreePtr = typename pcl::search::Search<PointT>::Ptr
Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

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 (std::size_t &point_index, PointT &output_point, PointNT &output_normal)
void	extractSalientFeaturesBetweenScales (PointCloudInPtr &cloud2, NormalCloudPtr &cloud2_normals, pcl::IndicesPtr &output_features)
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Additional Inherited Members
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

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

Definition at line 46 of file surfel_smoothing.h.

Member Typedef Documentation

◆ CloudKdTree

template<typename PointT, typename PointNT>

using pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTree = pcl::search::Search<PointT>

Definition at line 59 of file surfel_smoothing.h.

◆ CloudKdTreePtr

template<typename PointT, typename PointNT>

using pcl::SurfelSmoothing< PointT, PointNT >::CloudKdTreePtr = typename pcl::search::Search<PointT>::Ptr

Definition at line 60 of file surfel_smoothing.h.

◆ ConstPtr

template<typename PointT, typename PointNT>

using pcl::SurfelSmoothing< PointT, PointNT >::ConstPtr = shared_ptr<const SurfelSmoothing<PointT, PointNT> >

Definition at line 53 of file surfel_smoothing.h.

◆ NormalCloud

template<typename PointT, typename PointNT>

using pcl::SurfelSmoothing< PointT, PointNT >::NormalCloud = pcl::PointCloud<PointNT>

Definition at line 57 of file surfel_smoothing.h.

◆ NormalCloudPtr

template<typename PointT, typename PointNT>

using pcl::SurfelSmoothing< PointT, PointNT >::NormalCloudPtr = typename pcl::PointCloud<PointNT>::Ptr

Definition at line 58 of file surfel_smoothing.h.

◆ PointCloudIn

template<typename PointT, typename PointNT>

using pcl::SurfelSmoothing< PointT, PointNT >::PointCloudIn = pcl::PointCloud<PointT>

Definition at line 55 of file surfel_smoothing.h.

◆ PointCloudInPtr

template<typename PointT, typename PointNT>

using pcl::SurfelSmoothing< PointT, PointNT >::PointCloudInPtr = typename pcl::PointCloud<PointT>::Ptr

Definition at line 56 of file surfel_smoothing.h.

◆ Ptr

template<typename PointT, typename PointNT>

using pcl::SurfelSmoothing< PointT, PointNT >::Ptr = shared_ptr<SurfelSmoothing<PointT, PointNT> >

Definition at line 52 of file surfel_smoothing.h.

Constructor & Destructor Documentation

◆ SurfelSmoothing()

template<typename PointT, typename PointNT>

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

inline

Definition at line 62 of file surfel_smoothing.h.

References pcl::PCLBase< PointT >::PCLBase().

Member Function Documentation

◆ computeSmoothedCloud()

template<typename PointT, typename PointNT>

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

Definition at line 247 of file surfel_smoothing.hpp.

References initCompute(), pcl::PCLBase< PointT >::input_, and smoothPoint().

◆ extractSalientFeaturesBetweenScales()

template<typename PointT, typename PointNT>

void pcl::SurfelSmoothing< PointT, PointNT >::extractSalientFeaturesBetweenScales	(	PointCloudInPtr &	cloud2,
		NormalCloudPtr &	cloud2_normals,
		pcl::IndicesPtr &	output_features )

Definition at line 276 of file surfel_smoothing.hpp.

◆ initCompute()

template<typename PointT, typename PointNT>

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

Definition at line 49 of file surfel_smoothing.hpp.

References pcl::PCLBase< PointT >::initCompute(), and pcl::PCLBase< PointT >::input_.

Referenced by computeSmoothedCloud().

◆ setInputNormals()

template<typename PointT, typename PointNT>

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

inline

Definition at line 74 of file surfel_smoothing.h.

◆ setSearchMethod()

template<typename PointT, typename PointNT>

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

inline

Definition at line 77 of file surfel_smoothing.h.

◆ smoothCloudIteration()

template<typename PointT, typename PointNT>

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

Definition at line 85 of file surfel_smoothing.hpp.

References pcl::PCLBase< PointT >::input_, and pcl::squaredEuclideanDistance().

◆ smoothPoint()

template<typename PointT, typename PointNT>

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

Definition at line 161 of file surfel_smoothing.hpp.

Referenced by computeSmoothedCloud().

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

pcl/surface/surfel_smoothing.h
pcl/surface/impl/surfel_smoothing.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ CloudKdTree

◆ CloudKdTreePtr

◆ ConstPtr

◆ NormalCloud

◆ NormalCloudPtr

◆ PointCloudIn

◆ PointCloudInPtr

◆ Ptr

Constructor & Destructor Documentation

◆ SurfelSmoothing()

Member Function Documentation

◆ computeSmoothedCloud()

◆ extractSalientFeaturesBetweenScales()

◆ initCompute()

◆ setInputNormals()

◆ setSearchMethod()

◆ smoothCloudIteration()

◆ smoothPoint()