152 lines
5.0 KiB
C++
152 lines
5.0 KiB
C++
/*
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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) 2010-2011, 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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namespace pcl
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{
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template <typename PointT> class PointCloud;
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/** \brief @b CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and
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* produces a new output cloud that has been modified towards a better surface representation. These types of
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* algorithms include surface smoothing, hole filling, cloud upsampling etc.
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*
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* \author Alexandru E. Ichim
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* \ingroup surface
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*/
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template <typename PointInT, typename PointOutT>
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class CloudSurfaceProcessing : public PCLBase<PointInT>
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{
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public:
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typedef shared_ptr<CloudSurfaceProcessing<PointInT, PointOutT> > Ptr;
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typedef shared_ptr<const CloudSurfaceProcessing<PointInT, PointOutT> > ConstPtr;
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using PCLBase<PointInT>::input_;
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using PCLBase<PointInT>::indices_;
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using PCLBase<PointInT>::initCompute;
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using PCLBase<PointInT>::deinitCompute;
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public:
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/** \brief Constructor. */
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CloudSurfaceProcessing () : PCLBase<PointInT> ()
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{};
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/** \brief Empty destructor */
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~CloudSurfaceProcessing () {}
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/** \brief Process the input cloud and store the results
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* \param[out] output the cloud where the results will be stored
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*/
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virtual void
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process (pcl::PointCloud<PointOutT> &output);
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protected:
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/** \brief Abstract cloud processing method */
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virtual void
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performProcessing (pcl::PointCloud<PointOutT> &output) = 0;
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};
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/** \brief @b MeshProcessing represents the base class for mesh processing algorithms.
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* \author Alexandru E. Ichim
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* \ingroup surface
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*/
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class PCL_EXPORTS MeshProcessing
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{
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public:
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using Ptr = shared_ptr<MeshProcessing>;
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using ConstPtr = shared_ptr<const MeshProcessing>;
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using PolygonMeshConstPtr = PolygonMesh::ConstPtr;
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/** \brief Constructor. */
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MeshProcessing () {}
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/** \brief Destructor. */
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virtual ~MeshProcessing () {}
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/** \brief Set the input mesh that we want to process
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* \param[in] input the input polygonal mesh
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*/
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inline void
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setInputMesh (const pcl::PolygonMeshConstPtr &input)
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{ input_mesh_ = input; }
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/** \brief Get the input mesh to be processed
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* \returns the mesh
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*/
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inline pcl::PolygonMeshConstPtr
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getInputMesh () const
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{ return input_mesh_; }
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/** \brief Process the input surface mesh and store the results
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* \param[out] output the resultant processed surface model
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*/
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void
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process (pcl::PolygonMesh &output);
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protected:
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/** \brief Initialize computation. Must be called before processing starts. */
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virtual bool
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initCompute ();
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/** \brief UnInitialize computation. Must be called after processing ends. */
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virtual void
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deinitCompute ();
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/** \brief Abstract surface processing method. */
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virtual void
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performProcessing (pcl::PolygonMesh &output) = 0;
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/** \brief Abstract class get name method. */
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virtual std::string
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getClassName () const
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{ return (""); }
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/** \brief Input polygonal mesh. */
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pcl::PolygonMeshConstPtr input_mesh_;
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};
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}
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#include "pcl/surface/impl/processing.hpp"
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