#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. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

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

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

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

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

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. More...

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

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

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

Additional Inherited Members
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description