reconstruction.h
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00039 
00040 #ifndef PCL_SURFACE_RECONSTRUCTION_H_
00041 #define PCL_SURFACE_RECONSTRUCTION_H_
00042 
00043 #include <pcl/pcl_base.h>
00044 #include <pcl/PolygonMesh.h>
00045 #include <pcl/search/pcl_search.h>
00046 #include <pcl/conversions.h>
00047 #include <pcl/surface/boost.h>
00048 
00049 namespace pcl
00050 {
00060   template <typename PointInT>
00061   class PCLSurfaceBase: public PCLBase<PointInT>
00062   {
00063     public:
00064       typedef boost::shared_ptr<PCLSurfaceBase<PointInT> > Ptr;
00065       typedef boost::shared_ptr<const PCLSurfaceBase<PointInT> > ConstPtr;
00066 
00067       typedef typename pcl::search::Search<PointInT> KdTree;
00068       typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;
00069 
00071       PCLSurfaceBase () : tree_ () {}
00072       
00074       virtual ~PCLSurfaceBase () {}
00075 
00079       inline void
00080       setSearchMethod (const KdTreePtr &tree)
00081       {
00082         tree_ = tree;
00083       }
00084 
00086       inline KdTreePtr 
00087       getSearchMethod () { return (tree_); }
00088 
00093       virtual void 
00094       reconstruct (pcl::PolygonMesh &output) = 0;
00095 
00096     protected:
00098       KdTreePtr tree_;
00099 
00101       virtual std::string 
00102       getClassName () const { return (""); }
00103   };
00104 
00118   template <typename PointInT>
00119   class SurfaceReconstruction: public PCLSurfaceBase<PointInT>
00120   {
00121     public:
00122       typedef boost::shared_ptr<SurfaceReconstruction<PointInT> > Ptr;
00123       typedef boost::shared_ptr<const SurfaceReconstruction<PointInT> > ConstPtr;
00124 
00125       using PCLSurfaceBase<PointInT>::input_;
00126       using PCLSurfaceBase<PointInT>::indices_;
00127       using PCLSurfaceBase<PointInT>::initCompute;
00128       using PCLSurfaceBase<PointInT>::deinitCompute;
00129       using PCLSurfaceBase<PointInT>::tree_;
00130       using PCLSurfaceBase<PointInT>::getClassName;
00131 
00133       SurfaceReconstruction () : check_tree_ (true) {}
00134 
00136       virtual ~SurfaceReconstruction () {}
00137 
00142       virtual void 
00143       reconstruct (pcl::PolygonMesh &output);
00144 
00151       virtual void 
00152       reconstruct (pcl::PointCloud<PointInT> &points,
00153                    std::vector<pcl::Vertices> &polygons);
00154 
00155     protected:
00158       bool check_tree_;
00159 
00163       virtual void 
00164       performReconstruction (pcl::PolygonMesh &output) = 0;
00165 
00170       virtual void 
00171       performReconstruction (pcl::PointCloud<PointInT> &points, 
00172                              std::vector<pcl::Vertices> &polygons) = 0;
00173   };
00174 
00187   template <typename PointInT>
00188   class MeshConstruction: public PCLSurfaceBase<PointInT>
00189   {
00190     public:
00191       typedef boost::shared_ptr<MeshConstruction<PointInT> > Ptr;
00192       typedef boost::shared_ptr<const MeshConstruction<PointInT> > ConstPtr;
00193 
00194       using PCLSurfaceBase<PointInT>::input_;
00195       using PCLSurfaceBase<PointInT>::indices_;
00196       using PCLSurfaceBase<PointInT>::initCompute;
00197       using PCLSurfaceBase<PointInT>::deinitCompute;
00198       using PCLSurfaceBase<PointInT>::tree_;
00199       using PCLSurfaceBase<PointInT>::getClassName;
00200 
00202       MeshConstruction () : check_tree_ (true) {}
00203 
00205       virtual ~MeshConstruction () {}
00206 
00216       virtual void 
00217       reconstruct (pcl::PolygonMesh &output);
00218 
00224       virtual void 
00225       reconstruct (std::vector<pcl::Vertices> &polygons);
00226 
00227     protected:
00230       bool check_tree_;
00231 
00235       virtual void 
00236       performReconstruction (pcl::PolygonMesh &output) = 0;
00237 
00241       virtual void 
00242       performReconstruction (std::vector<pcl::Vertices> &polygons) = 0;
00243   };
00244 }
00245 
00246 #include <pcl/surface/impl/reconstruction.hpp>
00247 
00248 #endif  // PCL_SURFACE_RECONSTRUCTION_H_
00249 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:32:01