275 lines
9.9 KiB
C
275 lines
9.9 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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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/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/surface/reconstruction.h>
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namespace pcl
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{
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namespace poisson
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{
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class CoredVectorMeshData;
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template <class Real> struct Point3D;
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}
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/** \brief The Poisson surface reconstruction algorithm.
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* \note Code adapted from Misha Kazhdan: http://www.cs.jhu.edu/~misha/Code/PoissonRecon/
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* \note Based on the paper:
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* * Michael Kazhdan, Matthew Bolitho, Hugues Hoppe, "Poisson surface reconstruction",
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* SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
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* \author Alexandru-Eugen Ichim
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* \ingroup surface
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*/
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template<typename PointNT>
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class Poisson : public SurfaceReconstruction<PointNT>
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{
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public:
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using Ptr = shared_ptr<Poisson<PointNT> >;
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using ConstPtr = shared_ptr<const Poisson<PointNT> >;
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using SurfaceReconstruction<PointNT>::input_;
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using SurfaceReconstruction<PointNT>::tree_;
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using PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr;
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using KdTree = pcl::KdTree<PointNT>;
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using KdTreePtr = typename KdTree::Ptr;
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/** \brief Constructor that sets all the parameters to working default values. */
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Poisson ();
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/** \brief Destructor. */
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~Poisson ();
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/** \brief Create the surface.
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* \param[out] output the resultant polygonal mesh
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*/
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void
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performReconstruction (pcl::PolygonMesh &output) override;
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/** \brief Create the surface.
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* \param[out] points the vertex positions of the resulting mesh
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* \param[out] polygons the connectivity of the resulting mesh
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*/
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void
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performReconstruction (pcl::PointCloud<PointNT> &points,
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std::vector<pcl::Vertices> &polygons) override;
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/** \brief Set the maximum depth of the tree that will be used for surface reconstruction.
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* \note Running at depth d corresponds to solving on a voxel grid whose resolution is no larger than
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* 2^d x 2^d x 2^d. Note that since the reconstructor adapts the octree to the sampling density, the specified
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* reconstruction depth is only an upper bound.
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* \param[in] depth the depth parameter
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*/
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inline void
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setDepth (int depth) { depth_ = depth; }
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/** \brief Get the depth parameter */
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inline int
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getDepth () { return depth_; }
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inline void
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setMinDepth (int min_depth) { min_depth_ = min_depth; }
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inline int
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getMinDepth () { return min_depth_; }
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inline void
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setPointWeight (float point_weight) { point_weight_ = point_weight; }
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inline float
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getPointWeight () { return point_weight_; }
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/** \brief Set the ratio between the diameter of the cube used for reconstruction and the diameter of the
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* samples' bounding cube.
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* \param[in] scale the given parameter value
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*/
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inline void
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setScale (float scale) { scale_ = scale; }
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/** Get the ratio between the diameter of the cube used for reconstruction and the diameter of the
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* samples' bounding cube.
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*/
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inline float
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getScale () { return scale_; }
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/** \brief Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation
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* \note Using this parameter helps reduce the memory overhead at the cost of a small increase in
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* reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide
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* depth of 7 or 8 can greatly reduce the memory usage.)
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* \param[in] solver_divide the given parameter value
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*/
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inline void
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setSolverDivide (int solver_divide) { solver_divide_ = solver_divide; }
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/** \brief Get the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation */
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inline int
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getSolverDivide () { return solver_divide_; }
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/** \brief Set the depth at which a block iso-surface extractor should be used to extract the iso-surface
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* \note Using this parameter helps reduce the memory overhead at the cost of a small increase in extraction
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* time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8
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* can greatly reduce the memory usage.)
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* \param[in] iso_divide the given parameter value
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*/
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inline void
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setIsoDivide (int iso_divide) { iso_divide_ = iso_divide; }
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/** \brief Get the depth at which a block iso-surface extractor should be used to extract the iso-surface */
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inline int
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getIsoDivide () { return iso_divide_; }
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/** \brief Set the minimum number of sample points that should fall within an octree node as the octree
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* construction is adapted to sampling density
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* \note For noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples,
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* larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.
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* \param[in] samples_per_node the given parameter value
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*/
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inline void
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setSamplesPerNode (float samples_per_node) { samples_per_node_ = samples_per_node; }
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/** \brief Get the minimum number of sample points that should fall within an octree node as the octree
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* construction is adapted to sampling density
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*/
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inline float
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getSamplesPerNode () { return samples_per_node_; }
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/** \brief Set the confidence flag
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* \note Enabling this flag tells the reconstructor to use the size of the normals as confidence information.
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* When the flag is not enabled, all normals are normalized to have unit-length prior to reconstruction.
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* \param[in] confidence the given flag
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*/
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inline void
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setConfidence (bool confidence) { confidence_ = confidence; }
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/** \brief Get the confidence flag */
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inline bool
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getConfidence () { return confidence_; }
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/** \brief Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the
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* results of Marching Cubes).
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* \param[in] output_polygons the given flag
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*/
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inline void
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setOutputPolygons (bool output_polygons) { output_polygons_ = output_polygons; }
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/** \brief Get whether the algorithm outputs a polygon mesh or a triangle mesh */
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inline bool
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getOutputPolygons () { return output_polygons_; }
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/** \brief Set the degree parameter
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* \param[in] degree the given degree
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*/
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inline void
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setDegree (int degree) { degree_ = degree; }
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/** \brief Get the degree parameter */
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inline int
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getDegree () { return degree_; }
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/** \brief Set the manifold flag.
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* \note Enabling this flag tells the reconstructor to add the polygon barycenter when triangulating polygons
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* with more than three vertices.
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* \param[in] manifold the given flag
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*/
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inline void
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setManifold (bool manifold) { manifold_ = manifold; }
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/** \brief Get the manifold flag */
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inline bool
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getManifold () { return manifold_; }
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/** \brief Set the number of threads to use.
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* \param[in] threads the number of threads
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*/
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void
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setThreads(int threads);
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/** \brief Get the number of threads*/
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inline int
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getThreads()
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{
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return threads_;
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}
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protected:
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/** \brief Class get name method. */
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std::string
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getClassName () const override { return ("Poisson"); }
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private:
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int depth_;
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int min_depth_;
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float point_weight_;
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float scale_;
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int solver_divide_;
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int iso_divide_;
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float samples_per_node_;
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bool confidence_;
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bool output_polygons_;
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bool no_reset_samples_;
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bool no_clip_tree_;
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bool manifold_;
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int refine_;
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int kernel_depth_;
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int degree_;
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bool non_adaptive_weights_;
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bool show_residual_;
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int min_iterations_;
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float solver_accuracy_;
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int threads_;
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template<int Degree> void
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execute (poisson::CoredVectorMeshData &mesh,
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poisson::Point3D<float> &translate,
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float &scale);
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/surface/impl/poisson.hpp>
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#endif
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