Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/surface/include/pcl/surface/processing.h
00001 /*
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00039 
00040 #ifndef PCL_MESH_PROCESSING_H_
00041 #define PCL_MESH_PROCESSING_H_
00042 
00043 #include <pcl/pcl_base.h>
00044 #include <pcl/point_cloud.h>
00045 #include <pcl/PolygonMesh.h>
00046 
00047 namespace pcl
00048 {
00049   /** \brief @b CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and
00050     * produces a new output cloud that has been modified towards a better surface representation. These types of
00051     * algorithms include surface smoothing, hole filling, cloud upsampling etc.
00052     *
00053     * \author Alexandru E. Ichim
00054     * \ingroup surface
00055     */
00056   template <typename PointInT, typename PointOutT>
00057   class CloudSurfaceProcessing : public PCLBase<PointInT>
00058   {
00059     public:
00060       typedef boost::shared_ptr<CloudSurfaceProcessing<PointInT, PointOutT> > Ptr;
00061       typedef boost::shared_ptr<const CloudSurfaceProcessing<PointInT, PointOutT> > ConstPtr;
00062 
00063       using PCLBase<PointInT>::input_;
00064       using PCLBase<PointInT>::indices_;
00065       using PCLBase<PointInT>::initCompute;
00066       using PCLBase<PointInT>::deinitCompute;
00067 
00068     public:
00069       /** \brief Constructor. */
00070       CloudSurfaceProcessing () : PCLBase<PointInT> ()
00071       {};
00072       
00073       /** \brief Empty destructor */
00074       virtual ~CloudSurfaceProcessing () {}
00075 
00076       /** \brief Process the input cloud and store the results
00077         * \param[out] output the cloud where the results will be stored
00078         */
00079       virtual void
00080       process (pcl::PointCloud<PointOutT> &output);
00081 
00082     protected:
00083       /** \brief Abstract cloud processing method */
00084       virtual void
00085       performProcessing (pcl::PointCloud<PointOutT> &output) = 0;
00086 
00087   };
00088 
00089 
00090   /** \brief @b MeshProcessing represents the base class for mesh processing algorithms.
00091     * \author Alexandru E. Ichim
00092     * \ingroup surface
00093     */
00094   class PCL_EXPORTS MeshProcessing
00095   {
00096     public:
00097       typedef boost::shared_ptr<MeshProcessing> Ptr;
00098       typedef boost::shared_ptr<const MeshProcessing> ConstPtr;
00099 
00100       typedef PolygonMesh::ConstPtr PolygonMeshConstPtr;
00101 
00102       /** \brief Constructor. */
00103       MeshProcessing () : input_mesh_ () {}
00104 
00105       /** \brief Destructor. */
00106       virtual ~MeshProcessing () {}
00107 
00108       /** \brief Set the input mesh that we want to process
00109         * \param[in] input the input polygonal mesh
00110         */
00111       inline void
00112       setInputMesh (const pcl::PolygonMeshConstPtr &input) 
00113       { input_mesh_ = input; }
00114 
00115       /** \brief Get the input mesh to be processed
00116         * \returns the mesh
00117         */
00118       inline pcl::PolygonMeshConstPtr
00119       getInputMesh () const
00120       { return input_mesh_; }
00121 
00122       /** \brief Process the input surface mesh and store the results
00123         * \param[out] output the resultant processed surface model
00124         */
00125       void 
00126       process (pcl::PolygonMesh &output);
00127 
00128     protected:
00129       /** \brief Initialize computation. Must be called before processing starts. */
00130       virtual bool 
00131       initCompute ();
00132       
00133       /** \brief UnInitialize computation. Must be called after processing ends. */
00134       virtual void 
00135       deinitCompute ();
00136 
00137       /** \brief Abstract surface processing method. */
00138       virtual void 
00139       performProcessing (pcl::PolygonMesh &output) = 0;
00140 
00141       /** \brief Abstract class get name method. */
00142       virtual std::string 
00143       getClassName () const
00144       { return (""); }
00145 
00146       /** \brief Input polygonal mesh. */
00147       pcl::PolygonMeshConstPtr input_mesh_;
00148   };
00149 }
00150 
00151 #include "pcl/surface/impl/processing.hpp"
00152 
00153 #endif  /* PCL_MESH_PROCESSING_H_ */
00154