Point Cloud Library (PCL)  1.3.1
reconstruction.hpp
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00001 /*
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00034  * $Id: reconstruction.hpp 3031 2011-11-01 04:25:15Z rusu $
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00037 
00038 #ifndef PCL_SURFACE_RECONSTRUCTION_IMPL_H_
00039 #define PCL_SURFACE_RECONSTRUCTION_IMPL_H_
00040 #include <pcl/search/pcl_search.h>
00041 
00043 template <typename PointInT> void
00044 pcl::SurfaceReconstruction<PointInT>::reconstruct (pcl::PolygonMesh &output)
00045 {
00046   // Copy the header
00047   output.header = input_->header;
00048 
00049   if (!initCompute ()) 
00050   {
00051     output.cloud.width = output.cloud.height = 0;
00052     output.cloud.data.clear ();
00053     output.polygons.clear ();
00054     return;
00055   }
00056 
00057   // Check if a space search locator was given
00058   if (check_tree_)
00059   {
00060     if (!tree_)
00061     {
00062       if (input_->isOrganized ())
00063         tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
00064       else
00065         tree_.reset (new pcl::search::KdTree<PointInT> (false));
00066     }
00067 
00068     // Send the surface dataset to the spatial locator
00069     tree_->setInputCloud (input_, indices_);
00070   }
00071 
00072   // Set up the output dataset
00073   pcl::toROSMsg (*input_, output.cloud); 
00074   output.polygons.clear ();
00075   output.polygons.reserve (2*indices_->size ()); 
00076   // Perform the actual surface reconstruction
00077   performReconstruction (output);
00078 
00079   deinitCompute ();
00080 }
00081 
00082 #endif  // PCL_SURFACE_RECONSTRUCTION_IMPL_H_
00083 
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