integration.h
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00040 
00041 #ifndef PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H
00042 #define PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H
00043 
00044 #include <stdint.h>
00045 
00046 #include <pcl/pcl_exports.h>
00047 #include <pcl/apps/in_hand_scanner/common_types.h>
00048 
00050 // Forward declarations
00052 
00053 namespace pcl
00054 {
00055   template <typename PointT>
00056   class KdTree;
00057 } // End namespace pcl
00058 
00060 // Integration
00062 
00063 namespace pcl
00064 {
00065   namespace ihs
00066   {
00071     class PCL_EXPORTS Integration
00072     {
00073       public:
00074 
00075         typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
00076         typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
00077         typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
00078         typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
00079 
00080         typedef pcl::ihs::Mesh            Mesh;
00081         typedef pcl::ihs::MeshPtr         MeshPtr;
00082         typedef pcl::ihs::MeshConstPtr    MeshConstPtr;
00083         typedef Mesh::VertexIndex         VertexIndex;
00084         typedef Mesh::VertexIndices       VertexIndices;
00085 
00087         Integration ();
00088 
00094         bool
00095         reconstructMesh (const CloudXYZRGBNormalConstPtr& cloud_data,
00096                          MeshPtr&                         mesh_model) const;
00097 
00104         bool
00105         merge (const CloudXYZRGBNormalConstPtr& cloud_data,
00106                MeshPtr&                         mesh_model,
00107                const Eigen::Matrix4f&           T) const;
00108 
00113         void
00114         age (const MeshPtr& mesh, const bool cleanup=true) const;
00115 
00120         void
00121         removeUnfitVertices (const MeshPtr& mesh, const bool cleanup=true) const;
00122 
00127         void  setMaxSquaredDistance (const float squared_distance);
00128         float getMaxSquaredDistance () const;
00135         void  setMaxAngle (const float angle);
00136         float getMaxAngle () const;
00143         void         setMaxAge (const unsigned int age);
00144         unsigned int getMaxAge () const;
00151         void         setMinDirections (const unsigned int directions);
00152         unsigned int getMinDirections () const;
00155       private:
00156 
00157         typedef pcl::PointXYZ              PointXYZ;
00158         typedef pcl::PointCloud <PointXYZ> CloudXYZ;
00159         typedef CloudXYZ::Ptr              CloudXYZPtr;
00160         typedef CloudXYZ::ConstPtr         CloudXYZConstPtr;
00161 
00162         typedef pcl::ihs::PointIHS         PointIHS;
00163         typedef pcl::ihs::CloudIHS         CloudIHS;
00164         typedef pcl::ihs::CloudIHSPtr      CloudIHSPtr;
00165         typedef pcl::ihs::CloudIHSConstPtr CloudIHSConstPtr;
00166 
00167         typedef pcl::KdTree <PointXYZ>           KdTree;
00168         typedef boost::shared_ptr <KdTree>       KdTreePtr;
00169         typedef boost::shared_ptr <const KdTree> KdTreeConstPtr;
00170 
00171         uint8_t
00172         trimRGB (const float val) const;
00173 
00175         void
00176         addToMesh (const PointIHS& pt_0,
00177                    const PointIHS& pt_1,
00178                    const PointIHS& pt_2,
00179                    const PointIHS& pt_3,
00180                    VertexIndex&    vi_0,
00181                    VertexIndex&    vi_1,
00182                    VertexIndex&    vi_2,
00183                    VertexIndex&    vi_3,
00184                    const MeshPtr&  mesh) const;
00185 
00187         void
00188         addToMesh (const PointIHS& pt_0,
00189                    const PointIHS& pt_1,
00190                    const PointIHS& pt_2,
00191                    VertexIndex&    vi_0,
00192                    VertexIndex&    vi_1,
00193                    VertexIndex&    vi_2,
00194                    const MeshPtr&  mesh) const;
00195 
00197         bool
00198         distanceThreshold (const PointIHS& pt_0,
00199                            const PointIHS& pt_1,
00200                            const PointIHS& pt_2) const;
00201 
00203         bool
00204         distanceThreshold (const PointIHS& pt_0,
00205                            const PointIHS& pt_1,
00206                            const PointIHS& pt_2,
00207                            const PointIHS& pt_3) const;
00208 
00210         // Members
00212 
00214         KdTreePtr kd_tree_;
00215 
00217         float max_squared_distance_;
00218 
00220         float max_angle_;
00221 
00223         float min_weight_;
00224 
00226         unsigned int max_age_;
00227 
00229         unsigned int min_directions_;
00230     };
00231   } // End namespace ihs
00232 } // End namespace pcl
00233 
00234 #endif // PCL_APPS_IN_HAND_SCANNER_INTEGRATION_H


ros_in_hand_scanner
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autogenerated on Thu Jun 6 2019 20:39:38