00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: reconstruction.hpp 35668 2011-02-01 19:07:07Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_SURFACE_RECONSTRUCTION_IMPL_H_ 00039 #define PCL_SURFACE_RECONSTRUCTION_IMPL_H_ 00040 00042 template <typename PointInT> void 00043 pcl::SurfaceReconstruction<PointInT>::reconstruct (pcl::PolygonMesh &output) 00044 { 00045 // Copy the header 00046 output.header = input_->header; 00047 00048 if (!initCompute ()) 00049 { 00050 output.cloud.width = output.cloud.height = 0; 00051 output.cloud.data.clear (); 00052 output.polygons.clear (); 00053 return; 00054 } 00055 00056 // Check if a space search locator was given 00057 if (!tree_) 00058 { 00059 ROS_ERROR ("[pcl::%s::compute] No spatial search method was given!", getClassName ().c_str ()); 00060 output.cloud.width = output.cloud.height = 0; 00061 output.cloud.data.clear (); 00062 output.polygons.clear (); 00063 return; 00064 } 00065 00066 // Send the surface dataset to the spatial locator 00067 tree_->setInputCloud (input_, indices_); 00068 00069 // Set up the output dataset 00070 pcl::toROSMsg (*input_, output.cloud); 00071 output.polygons.clear (); 00072 output.polygons.reserve (2*indices_->size ()); 00073 // Perform the actual surface reconstruction 00074 performReconstruction (output); 00075 00076 deinitCompute (); 00077 } 00078 00079 #endif // PCL_SURFACE_RECONSTRUCTION_IMPL_H_ 00080