245 lines
9.2 KiB
C
245 lines
9.2 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/pcl_base.h>
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#include <pcl/PolygonMesh.h>
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#include <pcl/search/search.h> // for Search
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namespace pcl
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{
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/** \brief Pure abstract class. All types of meshing/reconstruction
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* algorithms in \b libpcl_surface must inherit from this, in order to make
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* sure we have a consistent API. The methods that we care about here are:
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*
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* - \b setSearchMethod(&SearchPtr): passes a search locator
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* - \b reconstruct(&PolygonMesh): creates a PolygonMesh object from the input data
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*
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* \author Radu B. Rusu, Michael Dixon, Alexandru E. Ichim
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* \ingroup surface
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*/
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template <typename PointInT>
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class PCLSurfaceBase: public PCLBase<PointInT>
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{
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public:
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using Ptr = shared_ptr<PCLSurfaceBase<PointInT> >;
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using ConstPtr = shared_ptr<const PCLSurfaceBase<PointInT> >;
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using KdTree = pcl::search::Search<PointInT>;
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using KdTreePtr = typename KdTree::Ptr;
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/** \brief Empty constructor. */
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PCLSurfaceBase () : tree_ () {}
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/** \brief Empty destructor */
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~PCLSurfaceBase () {}
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/** \brief Provide an optional pointer to a search object.
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* \param[in] tree a pointer to the spatial search object.
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*/
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inline void
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setSearchMethod (const KdTreePtr &tree)
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{
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tree_ = tree;
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}
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/** \brief Get a pointer to the search method used. */
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inline KdTreePtr
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getSearchMethod () { return (tree_); }
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/** \brief Base method for surface reconstruction for all points given in
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* <setInputCloud (), setIndices ()>
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* \param[out] output the resultant reconstructed surface model
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*/
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virtual void
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reconstruct (pcl::PolygonMesh &output) = 0;
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protected:
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/** \brief A pointer to the spatial search object. */
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KdTreePtr tree_;
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/** \brief Abstract class get name method. */
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virtual std::string
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getClassName () const { return (""); }
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};
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/** \brief SurfaceReconstruction represents a base surface reconstruction
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* class. All \b surface reconstruction methods take in a point cloud and
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* generate a new surface from it, by either re-sampling the data or
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* generating new data altogether. These methods are thus \b not preserving
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* the topology of the original data.
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*
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* \note Reconstruction methods that always preserve the original input
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* point cloud data as the surface vertices and simply construct the mesh on
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* top should inherit from \ref MeshConstruction.
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*
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* \author Radu B. Rusu, Michael Dixon, Alexandru E. Ichim
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* \ingroup surface
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*/
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template <typename PointInT>
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class SurfaceReconstruction: public PCLSurfaceBase<PointInT>
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{
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public:
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using Ptr = shared_ptr<SurfaceReconstruction<PointInT> >;
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using ConstPtr = shared_ptr<const SurfaceReconstruction<PointInT> >;
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using PCLSurfaceBase<PointInT>::input_;
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using PCLSurfaceBase<PointInT>::indices_;
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using PCLSurfaceBase<PointInT>::initCompute;
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using PCLSurfaceBase<PointInT>::deinitCompute;
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using PCLSurfaceBase<PointInT>::tree_;
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using PCLSurfaceBase<PointInT>::getClassName;
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/** \brief Constructor. */
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SurfaceReconstruction () : check_tree_ (true) {}
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/** \brief Destructor. */
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~SurfaceReconstruction () {}
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/** \brief Base method for surface reconstruction for all points given in
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* <setInputCloud (), setIndices ()>
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* \param[out] output the resultant reconstructed surface model
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*/
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void
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reconstruct (pcl::PolygonMesh &output) override;
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/** \brief Base method for surface reconstruction for all points given in
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* <setInputCloud (), setIndices ()>
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* \param[out] points the resultant points lying on the new surface
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* \param[out] polygons the resultant polygons, as a set of
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* vertices. The Vertices structure contains an array of point indices.
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*/
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virtual void
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reconstruct (pcl::PointCloud<PointInT> &points,
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std::vector<pcl::Vertices> &polygons);
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protected:
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/** \brief A flag specifying whether or not the derived reconstruction
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* algorithm needs the search object \a tree.*/
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bool check_tree_;
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/** \brief Abstract surface reconstruction method.
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* \param[out] output the output polygonal mesh
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*/
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virtual void
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performReconstruction (pcl::PolygonMesh &output) = 0;
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/** \brief Abstract surface reconstruction method.
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* \param[out] points the resultant points lying on the surface
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* \param[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
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*/
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virtual void
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performReconstruction (pcl::PointCloud<PointInT> &points,
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std::vector<pcl::Vertices> &polygons) = 0;
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};
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/** \brief MeshConstruction represents a base surface reconstruction
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* class. All \b mesh constructing methods that take in a point cloud and
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* generate a surface that uses the original data as vertices should inherit
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* from this class.
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*
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* \note Reconstruction methods that generate a new surface or create new
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* vertices in locations different than the input data should inherit from
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* \ref SurfaceReconstruction.
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*
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* \author Radu B. Rusu, Michael Dixon, Alexandru E. Ichim
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* \ingroup surface
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*/
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template <typename PointInT>
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class MeshConstruction: public PCLSurfaceBase<PointInT>
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{
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public:
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using Ptr = shared_ptr<MeshConstruction<PointInT> >;
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using ConstPtr = shared_ptr<const MeshConstruction<PointInT> >;
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using PCLSurfaceBase<PointInT>::input_;
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using PCLSurfaceBase<PointInT>::indices_;
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using PCLSurfaceBase<PointInT>::initCompute;
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using PCLSurfaceBase<PointInT>::deinitCompute;
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using PCLSurfaceBase<PointInT>::tree_;
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using PCLSurfaceBase<PointInT>::getClassName;
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/** \brief Constructor. */
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MeshConstruction () : check_tree_ (true) {}
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/** \brief Destructor. */
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~MeshConstruction () {}
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/** \brief Base method for surface reconstruction for all points given in
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* <setInputCloud (), setIndices ()>
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* \param[out] output the resultant reconstructed surface model
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*
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* \note This method copies the input point cloud data from
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* PointCloud<T> to PCLPointCloud2, and is implemented here for backwards
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* compatibility only!
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*
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*/
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void
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reconstruct (pcl::PolygonMesh &output) override;
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/** \brief Base method for mesh construction for all points given in
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* <setInputCloud (), setIndices ()>
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* \param[out] polygons the resultant polygons, as a set of
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* vertices. The Vertices structure contains an array of point indices.
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*/
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virtual void
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reconstruct (std::vector<pcl::Vertices> &polygons);
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protected:
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/** \brief A flag specifying whether or not the derived reconstruction
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* algorithm needs the search object \a tree.*/
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bool check_tree_;
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/** \brief Abstract surface reconstruction method.
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* \param[out] output the output polygonal mesh
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*/
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virtual void
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performReconstruction (pcl::PolygonMesh &output) = 0;
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/** \brief Abstract surface reconstruction method.
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* \param[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
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*/
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virtual void
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performReconstruction (std::vector<pcl::Vertices> &polygons) = 0;
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};
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}
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#include <pcl/surface/impl/reconstruction.hpp>
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