38 #ifndef PCL_SURFEL_SMOOTHING_H_ 39 #define PCL_SURFEL_SMOOTHING_H_ 41 #include <pcl/pcl_base.h> 42 #include <pcl/search/pcl_search.h> 46 template <
typename Po
intT,
typename Po
intNT>
53 typedef boost::shared_ptr<SurfelSmoothing<PointT, PointNT> >
Ptr;
54 typedef boost::shared_ptr<const SurfelSmoothing<PointT, PointNT> >
ConstPtr;
66 , scale_squared_ (a_scale * a_scale)
95 PointNT &output_normal);
100 boost::shared_ptr<std::vector<int> > &output_features);
103 float scale_, scale_squared_;
114 #ifdef PCL_NO_PRECOMPILE 115 #include <pcl/surface/impl/surfel_smoothing.hpp> 118 #endif // PCL_SURFEL_SMOOTHING_H_ SurfelSmoothing(float a_scale=0.01)
void smoothPoint(size_t &point_index, PointT &output_point, PointNT &output_normal)
void setInputNormals(NormalCloudPtr &a_normals)
pcl::PointCloud< PointT > PointCloudIn
void computeSmoothedCloud(PointCloudInPtr &output_positions, NormalCloudPtr &output_normals)
boost::shared_ptr< PointCloud< PointT > > Ptr
pcl::search::Search< PointT >::Ptr CloudKdTreePtr
float smoothCloudIteration(PointCloudInPtr &output_positions, NormalCloudPtr &output_normals)
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
boost::shared_ptr< SurfelSmoothing< PointT, PointNT > > Ptr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
pcl::PointCloud< PointT >::Ptr PointCloudInPtr
void extractSalientFeaturesBetweenScales(PointCloudInPtr &cloud2, NormalCloudPtr &cloud2_normals, boost::shared_ptr< std::vector< int > > &output_features)
pcl::PointCloud< PointNT > NormalCloud
boost::shared_ptr< const SurfelSmoothing< PointT, PointNT > > ConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setSearchMethod(const CloudKdTreePtr &a_tree)
pcl::PointCloud< PointNT >::Ptr NormalCloudPtr
pcl::search::Search< PointT > CloudKdTree