Template Function OrganizedPointFilters::Filter::LaplacianT

• Defined in File Laplacian.hpp

Function Documentation

template<int kernel_size = 3>
RowMatrixXVec3f OrganizedPointFilters::Filter::LaplacianT(Eigen::Ref<RowMatrixXVec3f> opc, float lambda = 0.5f, int iterations = 1, float max_dist = 1000000.0)

Laplacian filtering to an organized point cloud (OPC). An implicit mesh is defined by OPC wherein each 2X2 quad of the OPC creates two right-cut triangles. Will perform laplacain filtering for an organized point cloud and return smoothed triangle vertices.

O = Point

             O----------------------O
             |                    XX|
             |  TRI 0          XXX  |
             |              XXXX    |
             |            XXX       |
             |         XXX          |
             |       XXX            |
             |     XXX       TRI 1  |
             |   XXX                |
             |XXX                   |
             OX---------------------O

Return

RowMatrixXVec3f M X N X 3. Smoothed vertices.

Template Parameters

• 3: Kernel size. Increasing the kernel size will make smoother but have higher computation costs.

Parameters

• opc: Organized Point Cloud. M X N X 3 Eigen Matrix

• lambda: Weighting for each iteration update

• iterations: Number of iterations

• max_dist: Maximum distance a neighbor can be to be integrated for smoothing. Currently disabled.