116 lines
3.8 KiB
C
116 lines
3.8 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Alexandru-Eugen Ichim
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* Willow Garage, Inc
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*/
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#pragma once
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#include <pcl/pcl_base.h>
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#include <pcl/search/search.h> // for Search
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namespace pcl
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{
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template <typename PointT, typename PointNT>
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class SurfelSmoothing : public PCLBase<PointT>
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{
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using PCLBase<PointT>::input_;
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using PCLBase<PointT>::initCompute;
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public:
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typedef shared_ptr<SurfelSmoothing<PointT, PointNT> > Ptr;
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typedef shared_ptr<const SurfelSmoothing<PointT, PointNT> > ConstPtr;
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using PointCloudIn = pcl::PointCloud<PointT>;
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using PointCloudInPtr = typename pcl::PointCloud<PointT>::Ptr;
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using NormalCloud = pcl::PointCloud<PointNT>;
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using NormalCloudPtr = typename pcl::PointCloud<PointNT>::Ptr;
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using CloudKdTree = pcl::search::Search<PointT>;
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using CloudKdTreePtr = typename pcl::search::Search<PointT>::Ptr;
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SurfelSmoothing (float a_scale = 0.01)
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: PCLBase<PointT> ()
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, scale_ (a_scale)
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, scale_squared_ (a_scale * a_scale)
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, normals_ ()
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, interm_cloud_ ()
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, interm_normals_ ()
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, tree_ ()
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{
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}
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void
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setInputNormals (NormalCloudPtr &a_normals) { normals_ = a_normals; };
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void
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setSearchMethod (const CloudKdTreePtr &a_tree) { tree_ = a_tree; };
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bool
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initCompute ();
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float
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smoothCloudIteration (PointCloudInPtr &output_positions,
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NormalCloudPtr &output_normals);
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void
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computeSmoothedCloud (PointCloudInPtr &output_positions,
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NormalCloudPtr &output_normals);
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void
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smoothPoint (std::size_t &point_index,
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PointT &output_point,
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PointNT &output_normal);
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void
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extractSalientFeaturesBetweenScales (PointCloudInPtr &cloud2,
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NormalCloudPtr &cloud2_normals,
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pcl::IndicesPtr &output_features);
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private:
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float scale_, scale_squared_;
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NormalCloudPtr normals_;
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PointCloudInPtr interm_cloud_;
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NormalCloudPtr interm_normals_;
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CloudKdTreePtr tree_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/surface/impl/surfel_smoothing.hpp>
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#endif
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