00001 /* 00002 * Copyright (C) 2008 00003 * Robert Bosch LLC 00004 * Research and Technology Center North America 00005 * Palo Alto, California 00006 * 00007 * All rights reserved. 00008 * 00009 *------------------------------------------------------------------------------ 00010 * project ....: PUMA: Probablistic Unsupervised Model Acquisition 00011 * file .......: Mesh3DHelper.h 00012 * authors ....: Benjamin Pitzer 00013 * organization: Robert Bosch LLC 00014 * creation ...: 04/20/2008 00015 * modified ...: $Date:2008-03-03 10:26:02 -0800 (Mon, 03 Mar 2008) $ 00016 * changed by .: $Author:benjaminpitzer $ 00017 * revision ...: $Revision:141 $ 00018 */ 00019 #ifndef MESH3DHELPER_H_ 00020 #define MESH3DHELPER_H_ 00021 00022 //== INCLUDES ================================================================== 00023 #include "rtc/rtcMesh3D.h" 00024 00025 //== NAMESPACES ================================================================ 00026 namespace rtc { 00027 00028 //== CLASS DEFINITION ========================================================== 00029 class Mesh3DHelper 00030 { 00031 public: 00032 // standard c'tor and d'tor 00033 Mesh3DHelper(); 00034 virtual ~Mesh3DHelper(); 00035 00036 // add noise 00037 static void addMeasurementNoise(Mesh3D& mesh, Vec3f& alpha_measurement); 00038 00046 static void updateVertexNormals(Mesh3D& srcdest, int n_neighbors=5); 00053 static void removeIsolatedVertices(Mesh3D& srcdest); 00054 }; 00055 00056 //============================================================================== 00057 } // NAMESPACE rtc 00058 //============================================================================== 00059 #endif // MESH3DHELPER_H_ defined 00060 //==============================================================================