40 #ifndef PCL_FILTERS_PYRAMID_H_
41 #define PCL_FILTERS_PYRAMID_H_
43 #include <pcl/common/point_operators.h>
44 #include <pcl/point_cloud.h>
45 #include <pcl/pcl_config.h>
61 template <
typename Po
intT>
67 typedef boost::shared_ptr< Pyramid<PointT> >
Ptr;
68 typedef boost::shared_ptr< const Pyramid<PointT> >
ConstPtr;
86 inline PointCloudConstPtr
const
128 compute (std::vector<PointCloudPtr>& output);
130 inline const std::string&
145 p.x = p.y = p.z = std::numeric_limits<float>::quiet_NaN ();
149 PointCloudConstPtr input_;
157 Eigen::MatrixXf kernel_;
161 unsigned int threads_;
164 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
PointCloud< PointT >::ConstPtr PointCloudConstPtr
const std::string & getClassName() const
void compute(std::vector< PointCloudPtr > &output)
compute the pyramid levels.
boost::shared_ptr< Pyramid< PointT > > Ptr
int getNumberOfLevels() const
void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Pyramid constructs a multi-scale representation of an organised point cloud.
void setDistanceThreshold(float threshold)
Only points such us distance (center,point) < threshold are accounted for to prevent ghost points...
PointCloud< PointT >::Ptr PointCloudPtr
float getDistanceThreshold() const
PointCloudConstPtr const getInputCloud()
Get a pointer to the input point cloud dataset.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
void setNumberOfLevels(int levels)
Set the number of pyramid levels.
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setLargeSmoothingKernel(bool large)
Choose a larger smoothing kernel for enhanced smoothing.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< const Pyramid< PointT > > ConstPtr