Point Cloud Library (PCL) 1.13.0
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reconstruction.hpp
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39
40#ifndef PCL_SURFACE_RECONSTRUCTION_IMPL_H_
41#define PCL_SURFACE_RECONSTRUCTION_IMPL_H_
42
43#include <pcl/conversions.h> // for pcl::toPCLPointCloud2
44#include <pcl/search/kdtree.h> // for KdTree
45#include <pcl/search/organized.h> // for OrganizedNeighbor
46
47
48namespace pcl
49{
50
51template <typename PointInT> void
53{
54 // Copy the header
55 output.header = input_->header;
56
57 if (!initCompute ())
58 {
59 output.cloud.width = output.cloud.height = 0;
60 output.cloud.data.clear ();
61 output.polygons.clear ();
62 return;
63 }
64
65 // Check if a space search locator was given
66 if (check_tree_)
67 {
68 if (!tree_)
69 {
70 if (input_->isOrganized ())
72 else
73 tree_.reset (new pcl::search::KdTree<PointInT> (false));
74 }
75
76 // Send the surface dataset to the spatial locator
77 tree_->setInputCloud (input_, indices_);
78 }
79
80 // Set up the output dataset
81 pcl::toPCLPointCloud2 (*input_, output.cloud); /// NOTE: passing in boost shared pointer with * as const& should be OK here
82 output.polygons.clear ();
83 output.polygons.reserve (2*indices_->size ()); /// NOTE: usually the number of triangles is around twice the number of vertices
84 // Perform the actual surface reconstruction
85 performReconstruction (output);
86
87 deinitCompute ();
88}
89
90
91template <typename PointInT> void
93 std::vector<pcl::Vertices> &polygons)
94{
95 // Copy the header
96 points.header = input_->header;
97
98 if (!initCompute ())
99 {
100 points.width = points.height = 0;
101 points.clear ();
102 polygons.clear ();
103 return;
104 }
105
106 // Check if a space search locator was given
107 if (check_tree_)
108 {
109 if (!tree_)
110 {
111 if (input_->isOrganized ())
112 tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
113 else
114 tree_.reset (new pcl::search::KdTree<PointInT> (false));
115 }
116
117 // Send the surface dataset to the spatial locator
118 tree_->setInputCloud (input_, indices_);
119 }
120
121 // Set up the output dataset
122 polygons.clear ();
123 polygons.reserve (2 * indices_->size ()); /// NOTE: usually the number of triangles is around twice the number of vertices
124 // Perform the actual surface reconstruction
125 performReconstruction (points, polygons);
126
127 deinitCompute ();
128}
129
130
131template <typename PointInT> void
133{
134 // Copy the header
135 output.header = input_->header;
136
137 if (!initCompute ())
138 {
139 output.cloud.width = output.cloud.height = 1;
140 output.cloud.data.clear ();
141 output.polygons.clear ();
142 return;
143 }
144
145 // Check if a space search locator was given
146 if (check_tree_)
147 {
148 if (!tree_)
149 {
150 if (input_->isOrganized ())
151 tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
152 else
153 tree_.reset (new pcl::search::KdTree<PointInT> (false));
154 }
155
156 // Send the surface dataset to the spatial locator
157 tree_->setInputCloud (input_, indices_);
158 }
159
160 // Set up the output dataset
161 pcl::toPCLPointCloud2 (*input_, output.cloud); /// NOTE: passing in boost shared pointer with * as const& should be OK here
162 // output.polygons.clear ();
163 // output.polygons.reserve (2*indices_->size ()); /// NOTE: usually the number of triangles is around twice the number of vertices
164 // Perform the actual surface reconstruction
165 performReconstruction (output);
166
167 deinitCompute ();
168}
169
170
171template <typename PointInT> void
172MeshConstruction<PointInT>::reconstruct (std::vector<pcl::Vertices> &polygons)
173{
174 if (!initCompute ())
175 {
176 polygons.clear ();
177 return;
178 }
179
180 // Check if a space search locator was given
181 if (check_tree_)
182 {
183 if (!tree_)
184 {
185 if (input_->isOrganized ())
186 tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
187 else
188 tree_.reset (new pcl::search::KdTree<PointInT> (false));
189 }
190
191 // Send the surface dataset to the spatial locator
192 tree_->setInputCloud (input_, indices_);
193 }
194
195 // Set up the output dataset
196 //polygons.clear ();
197 //polygons.reserve (2 * indices_->size ()); /// NOTE: usually the number of triangles is around twice the number of vertices
198 // Perform the actual surface reconstruction
199 performReconstruction (polygons);
200
201 deinitCompute ();
202}
203
204} // namespace pcl
205
206#endif // PCL_SURFACE_RECONSTRUCTION_IMPL_H_
207
void reconstruct(pcl::PolygonMesh &output) override
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
PointCloud represents the base class in PCL for storing collections of 3D points.
std::uint32_t width
The point cloud width (if organized as an image-structure).
pcl::PCLHeader header
The point cloud header.
std::uint32_t height
The point cloud height (if organized as an image-structure).
void clear()
Removes all points in a cloud and sets the width and height to 0.
void reconstruct(pcl::PolygonMesh &output) override
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
Definition kdtree.h:62
OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.
Definition organized.h:61
void toPCLPointCloud2(const pcl::PointCloud< PointT > &cloud, pcl::PCLPointCloud2 &msg)
Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
std::vector< std::uint8_t > data
::pcl::PCLHeader header
Definition PolygonMesh.h:18
std::vector< ::pcl::Vertices > polygons
Definition PolygonMesh.h:22
::pcl::PCLPointCloud2 cloud
Definition PolygonMesh.h:20