1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
|
#ifndef _MINIPCL_H_
#define _MINIPCL_H_
#include <pcl/point_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/octree/octree_pointcloud.h>
#include <vector>
//
void mpcl_compute_normals(const pcl::PointCloud<pcl::PointXYZ> &cloud,
int ksearch,
double searchRadius,
pcl::PointCloud<pcl::Normal> &out);
void mpcl_compute_normals_PointXYZI(const pcl::PointCloud<pcl::PointXYZI> &cloud,
int ksearch,
double searchRadius,
pcl::PointCloud<pcl::Normal> &out);
void mpcl_compute_normals_PointXYZRGB(const pcl::PointCloud<pcl::PointXYZRGB> &cloud,
int ksearch,
double searchRadius,
pcl::PointCloud<pcl::Normal> &out);
void mpcl_compute_normals_PointXYZRGBA(const pcl::PointCloud<pcl::PointXYZRGBA> &cloud,
int ksearch,
double searchRadius,
pcl::PointCloud<pcl::Normal> &out);
//
void mpcl_extract(pcl::PointCloud<pcl::PointXYZ>::Ptr &incloud,
pcl::PointCloud<pcl::PointXYZ> *outcloud,
pcl::PointIndices *indices,
bool negative);
void mpcl_extract_PointXYZI(pcl::PointCloud<pcl::PointXYZI>::Ptr &incloud,
pcl::PointCloud<pcl::PointXYZI> *outcloud,
pcl::PointIndices *indices,
bool negative);
void mpcl_extract_PointXYZRGB(pcl::PointCloud<pcl::PointXYZRGB>::Ptr &incloud,
pcl::PointCloud<pcl::PointXYZRGB> *outcloud,
pcl::PointIndices *indices,
bool negative);
void mpcl_extract_PointXYZRGBA(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr &incloud,
pcl::PointCloud<pcl::PointXYZRGBA> *outcloud,
pcl::PointIndices *indices,
bool negative);
// Octree(OctreePointCloud)
// void mpcl_deleteVoxelAtPoint(pcl::octree::OctreePointCloud<pcl::PointXYZ>& inOctree, pcl::PointXYZ incloud);
// void mpcl_deleteVoxelAtPoint_PointXYZI(pcl::octree::OctreePointCloud<pcl::PointXYZI>& inOctree, pcl::PointXYZI incloud);
// void mpcl_deleteVoxelAtPoint_PointXYZRGB(pcl::octree::OctreePointCloud<pcl::PointXYZRGB>& inOctree, pcl::PointXYZRGB incloud);
// void mpcl_deleteVoxelAtPoint_PointXYZRGBA(pcl::octree::OctreePointCloud<pcl::PointXYZRGBA>& inOctree, pcl::PointXYZRGBA incloud);
// int mpcl_getOccupiedVoxelCenters(pcl::octree::OctreePointCloud<pcl::PointXYZ>& inOctree, std::vector<pcl::PointXYZ, Eigen::aligned_allocator<pcl::PointXYZ> > alignPoint);
// int mpcl_getOccupiedVoxelCenters_PointXYZI(pcl::octree::OctreePointCloud<pcl::PointXYZI>& inOctree, std::vector<pcl::PointXYZI, Eigen::aligned_allocator<pcl::PointXYZI> > alignPoint);
// int mpcl_getOccupiedVoxelCenters_PointXYZRGB(pcl::octree::OctreePointCloud<pcl::PointXYZRGB>& inOctree, std::vector<pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB> > alignPoint);
// int mpcl_getOccupiedVoxelCenters_PointXYZRGBA(pcl::octree::OctreePointCloud<pcl::PointXYZRGBA>& inOctree, std::vector<pcl::PointXYZRGBA, Eigen::aligned_allocator<pcl::PointXYZRGBA> > alignPoint);
// VFH
void mpcl_extract_VFH(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
// // HarrisKeypoint3D
// // NG(outcloud pcl::PointXYZI)
// void mpcl_extract_HarrisKeypoint3D(pcl::PointCloud<pcl::PointXYZ>::Ptr &incloud, pcl::PointCloud<pcl::PointXYZ> *outcloud);
//
//
// // HarrisKeypoint3D
// void mpcl_extract_HarrisKeypoint3D(pcl::PointCloud<pcl::PointXYZ>::Ptr &incloud, pcl::PointCloud<pcl::PointXYZI> *outcloud);
// Features
// NormalEstimationMethod
void mpcl_features_NormalEstimationMethod_AVERAGE_3D_GRADIENT(pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> ne);
void mpcl_features_NormalEstimationMethod_COVARIANCE_MATRIX(pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> ne);
void mpcl_features_NormalEstimationMethod_AVERAGE_DEPTH_CHANGE(pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> ne);
void mpcl_features_NormalEstimationMethod_SIMPLE_3D_GRADIENT(pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> ne);
void mpcl_features_NormalEstimationMethod_compute(pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> ne, pcl::PointCloud<pcl::Normal> &out);
#endif // _MINIPCL_H_
|
