reconstruction.hpp
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00036  * $Id: reconstruction.hpp 3753 2011-12-31 23:30:57Z rusu $
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00039 
00040 #ifndef PCL_SURFACE_RECONSTRUCTION_IMPL_H_
00041 #define PCL_SURFACE_RECONSTRUCTION_IMPL_H_
00042 #include <pcl/search/pcl_search.h>
00043 
00045 template <typename PointInT> void
00046 pcl::SurfaceReconstruction<PointInT>::reconstruct (pcl::PolygonMesh &output)
00047 {
00048   // Copy the header
00049   output.header = input_->header;
00050 
00051   if (!initCompute ()) 
00052   {
00053     output.cloud.width = output.cloud.height = 0;
00054     output.cloud.data.clear ();
00055     output.polygons.clear ();
00056     return;
00057   }
00058 
00059   // Check if a space search locator was given
00060   if (check_tree_)
00061   {
00062     if (!tree_)
00063     {
00064       if (input_->isOrganized ())
00065         tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
00066       else
00067         tree_.reset (new pcl::search::KdTree<PointInT> (false));
00068     }
00069 
00070     // Send the surface dataset to the spatial locator
00071     tree_->setInputCloud (input_, indices_);
00072   }
00073 
00074   // Set up the output dataset
00075   pcl::toROSMsg (*input_, output.cloud); 
00076   output.polygons.clear ();
00077   output.polygons.reserve (2*indices_->size ()); 
00078   // Perform the actual surface reconstruction
00079   performReconstruction (output);
00080 
00081   deinitCompute ();
00082 }
00083 
00085 template <typename PointInT> void
00086 pcl::SurfaceReconstruction<PointInT>::reconstruct (pcl::PointCloud<PointInT> &points,
00087                                                    std::vector<pcl::Vertices> &polygons)
00088 {
00089   // Copy the header
00090   points.header = input_->header;
00091 
00092   if (!initCompute ()) 
00093   {
00094     points.width = points.height = 0;
00095     points.clear ();
00096     polygons.clear ();
00097     return;
00098   }
00099 
00100   // Check if a space search locator was given
00101   if (check_tree_)
00102   {
00103     if (!tree_)
00104     {
00105       if (input_->isOrganized ())
00106         tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
00107       else
00108         tree_.reset (new pcl::search::KdTree<PointInT> (false));
00109     }
00110 
00111     // Send the surface dataset to the spatial locator
00112     tree_->setInputCloud (input_, indices_);
00113   }
00114 
00115   // Set up the output dataset
00116   polygons.clear ();
00117   polygons.reserve (2 * indices_->size ()); 
00118   // Perform the actual surface reconstruction
00119   performReconstruction (points, polygons);
00120 
00121   deinitCompute ();
00122 }
00123 
00125 template <typename PointInT> void
00126 pcl::MeshConstruction<PointInT>::reconstruct (pcl::PolygonMesh &output)
00127 {
00128   // Copy the header
00129   output.header = input_->header;
00130 
00131   if (!initCompute ()) 
00132   {
00133     output.cloud.width = output.cloud.height = 1;
00134     output.cloud.data.clear ();
00135     output.polygons.clear ();
00136     return;
00137   }
00138 
00139   // Check if a space search locator was given
00140   if (check_tree_)
00141   {
00142     if (!tree_)
00143     {
00144       if (input_->isOrganized ())
00145         tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
00146       else
00147         tree_.reset (new pcl::search::KdTree<PointInT> (false));
00148     }
00149 
00150     // Send the surface dataset to the spatial locator
00151     tree_->setInputCloud (input_, indices_);
00152   }
00153 
00154   // Set up the output dataset
00155   pcl::toROSMsg (*input_, output.cloud); 
00156 //  output.polygons.clear ();
00157 //  output.polygons.reserve (2*indices_->size ()); /// NOTE: usually the number of triangles is around twice the number of vertices
00158   // Perform the actual surface reconstruction
00159   performReconstruction (output);
00160 
00161   deinitCompute ();
00162 }
00163 
00165 template <typename PointInT> void
00166 pcl::MeshConstruction<PointInT>::reconstruct (std::vector<pcl::Vertices> &polygons)
00167 {
00168   if (!initCompute ()) 
00169   {
00170     polygons.clear ();
00171     return;
00172   }
00173 
00174   // Check if a space search locator was given
00175   if (check_tree_)
00176   {
00177     if (!tree_)
00178     {
00179       if (input_->isOrganized ())
00180         tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
00181       else
00182         tree_.reset (new pcl::search::KdTree<PointInT> (false));
00183     }
00184 
00185     // Send the surface dataset to the spatial locator
00186     tree_->setInputCloud (input_, indices_);
00187   }
00188 
00189   // Set up the output dataset
00190   //polygons.clear ();
00191   //polygons.reserve (2 * indices_->size ()); /// NOTE: usually the number of triangles is around twice the number of vertices
00192   // Perform the actual surface reconstruction
00193   performReconstruction (polygons);
00194 
00195   deinitCompute ();
00196 }
00197 
00198 
00199 #endif  // PCL_SURFACE_RECONSTRUCTION_IMPL_H_
00200 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:37