00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2011, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id: vtk_mesh_smoothing_laplacian.cpp 5027 2012-03-12 03:10:45Z rusu $ 00036 * 00037 */ 00038 00039 #include <pcl/surface/vtk_smoothing/vtk_mesh_smoothing_laplacian.h> 00040 #include <pcl/surface/vtk_smoothing/vtk_utils.h> 00041 00042 #include <vtkSmoothPolyDataFilter.h> 00043 00044 00046 void 00047 pcl::MeshSmoothingLaplacianVTK::performProcessing (pcl::PolygonMesh &output) 00048 { 00049 // Convert from PCL mesh representation to the VTK representation 00050 VTKUtils::convertToVTK (*input_mesh_, vtk_polygons_); 00051 00052 // Apply the VTK algorithm 00053 vtkSmartPointer<vtkSmoothPolyDataFilter> vtk_smoother = vtkSmoothPolyDataFilter::New (); 00054 vtk_smoother->SetInput (vtk_polygons_); 00055 vtk_smoother->SetNumberOfIterations (num_iter_); 00056 if (convergence_ != 0.0f) 00057 vtk_smoother->SetConvergence (convergence_); 00058 vtk_smoother->SetRelaxationFactor (relaxation_factor_); 00059 vtk_smoother->SetFeatureEdgeSmoothing (feature_edge_smoothing_); 00060 vtk_smoother->SetFeatureAngle (feature_angle_); 00061 vtk_smoother->SetEdgeAngle (edge_angle_); 00062 vtk_smoother->SetBoundarySmoothing (boundary_smoothing_); 00063 vtk_smoother->Update (); 00064 00065 vtk_polygons_ = vtk_smoother->GetOutput (); 00066 00067 // Convert the result back to the PCL representation 00068 VTKUtils::convertToPCL (vtk_polygons_, output); 00069 }