Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: reconstruction.h 3031 2011-11-01 04:25:15Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_SURFACE_RECONSTRUCTION_H_ 00039 #define PCL_SURFACE_RECONSTRUCTION_H_ 00040 00041 #include <pcl/pcl_base.h> 00042 #include <pcl/PolygonMesh.h> 00043 #include <pcl/search/pcl_search.h> 00044 #include <pcl/ros/conversions.h> 00045 #include <boost/bind.hpp> 00046 #include <boost/function.hpp> 00047 00048 namespace pcl 00049 { 00054 template <typename PointInT> 00055 class SurfaceReconstruction: public PCLBase<PointInT> 00056 { 00057 public: 00058 using PCLBase<PointInT>::input_; 00059 using PCLBase<PointInT>::indices_; 00060 using PCLBase<PointInT>::initCompute; 00061 using PCLBase<PointInT>::deinitCompute; 00062 00063 typedef typename pcl::search::Search<PointInT> KdTree; 00064 typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr; 00065 00067 SurfaceReconstruction () : tree_(), check_tree_(true) {} 00068 00073 void reconstruct (pcl::PolygonMesh &output); 00074 00078 inline void 00079 setSearchMethod (const KdTreePtr &tree) 00080 { 00081 tree_ = tree; 00082 } 00083 00085 inline KdTreePtr 00086 getSearchMethod () { return (tree_); } 00087 00088 protected: 00090 KdTreePtr tree_; 00091 00094 bool check_tree_; 00095 00097 virtual void performReconstruction (pcl::PolygonMesh &output) = 0; 00098 00100 virtual std::string getClassName () const { return (""); } 00101 }; 00102 } 00103 00104 #include "pcl/surface/impl/reconstruction.hpp" 00105 00106 #endif // PCL_SURFACE_RECONSTRUCTION_H_ 00107