Point Cloud Library (PCL)  1.3.1
reconstruction.h
Go to the documentation of this file.
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 
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines