template <typename PointT, typename PointNT> void
pcl::SurfelSmoothing<PointT, PointNT>::computeSmoothedCloud (PointCloudInPtr &output_positions,
NormalCloudPtr &output_normals)
{
if (!initCompute ())
{
PCL_ERROR ("[pcl::SurfelSmoothing::computeSmoothedCloud]: SurfelSmoothing not initialized properly, skipping computeSmoothedCloud ().\n");
return;
}
tree_->setInputCloud (input_);
output_positions->header = input_->header;
output_positions->height = input_->height;
output_positions->width = input_->width;
output_normals->header = input_->header;
output_normals->height = input_->height;
output_normals->width = input_->width;
output_positions->points.resize (input_->points.size ());
output_normals->points.resize (input_->points.size ());
for (size_t i = 0; i < input_->points.size (); ++i)
{
smoothPoint (i, output_positions->points[i], output_normals->points[i]);
}
}
void Landscape::smoothMap(void)
{
sPoint closestPoint;
std::vector<sPoint>::iterator it;
for (it = _immovablePoints.begin(); it != _immovablePoints.end(); ++it)
{
findClosestPoint((*it), closestPoint);
std::cout << "Closest point from:\t"
<< it->x << ", "
<< it->y << ", "
<< it->z << std::endl
<< "found at:\t\t"
<< closestPoint.x << ", "
<< closestPoint.y << ", "
<< closestPoint.z << std::endl;
smoothPoint(*it, closestPoint);
std::cout << "Fill map:\tDONE" << std::endl;
}
}
void KarbonCalligraphicShape::smoothLastPoints()
{
int index = pointCount() / 2;
smoothPoint(index - 2);
smoothPoint(index + 1);
}
