Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2011, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id$ 00036 * 00037 */ 00038 00039 #ifndef VTK_MESH_SMOOTHING_WINDOWED_SINC_H_ 00040 #define VTK_MESH_SMOOTHING_WINDOWED_SINC_H_ 00041 00042 #include <pcl/surface/processing.h> 00043 #include <pcl/surface/vtk_smoothing/vtk.h> 00044 00045 namespace pcl 00046 { 00047 /** \brief PCL mesh smoothing based on the vtkWindowedSincPolyDataFilter algorithm from the VTK library. 00048 * Please check out the original documentation for more details on the inner workings of the algorithm 00049 * Warning: This wrapper does two fairly computationally expensive conversions from the PCL PolygonMesh 00050 * data structure to the vtkPolyData data structure and back. 00051 */ 00052 class PCL_EXPORTS MeshSmoothingWindowedSincVTK : public MeshProcessing 00053 { 00054 public: 00055 /** \brief Empty constructor that sets the values of the algorithm parameters to the VTK defaults */ 00056 MeshSmoothingWindowedSincVTK () 00057 : MeshProcessing (), 00058 num_iter_ (20), 00059 pass_band_ (0.1f), 00060 feature_edge_smoothing_ (false), 00061 feature_angle_ (45.f), 00062 edge_angle_ (15.f), 00063 boundary_smoothing_ (true), 00064 normalize_coordinates_ (false) 00065 {}; 00066 00067 /** \brief Set the number of iterations for the smoothing filter. 00068 * \param[in] num_iter the number of iterations 00069 */ 00070 inline void 00071 setNumIter (int num_iter) 00072 { 00073 num_iter_ = num_iter; 00074 }; 00075 00076 /** \brief Get the number of iterations. */ 00077 inline int 00078 getNumIter () 00079 { 00080 return num_iter_; 00081 }; 00082 00083 /** \brief Set the pass band value for windowed sinc filtering. 00084 * \param[in] pass_band value for the pass band. 00085 */ 00086 inline void 00087 setPassBand (float pass_band) 00088 { 00089 pass_band_ = pass_band; 00090 }; 00091 00092 /** \brief Get the pass band value. */ 00093 inline float 00094 getPassBand () 00095 { 00096 return pass_band_; 00097 }; 00098 00099 /** \brief Turn on/off coordinate normalization. The positions can be translated and scaled such that they fit 00100 * within a [-1, 1] prior to the smoothing computation. The default is off. The numerical stability of the 00101 * solution can be improved by turning normalization on. If normalization is on, the coordinates will be rescaled 00102 * to the original coordinate system after smoothing has completed. 00103 * \param[in] normalize_coordinates decision whether to normalize coordinates or not 00104 */ 00105 inline void 00106 setNormalizeCoordinates (bool normalize_coordinates) 00107 { 00108 normalize_coordinates_ = normalize_coordinates; 00109 } 00110 00111 /** \brief Get whether the coordinate normalization is active or not */ 00112 inline bool 00113 getNormalizeCoordinates () 00114 { 00115 return normalize_coordinates_; 00116 } 00117 00118 /** \brief Turn on/off smoothing along sharp interior edges. 00119 * \param[in] status decision whether to enable/disable smoothing along sharp interior edges 00120 */ 00121 inline void 00122 setFeatureEdgeSmoothing (bool feature_edge_smoothing) 00123 { 00124 feature_edge_smoothing_ = feature_edge_smoothing; 00125 }; 00126 00127 /** \brief Get the status of the feature edge smoothing */ 00128 inline bool 00129 getFeatureEdgeSmoothing () 00130 { 00131 return feature_edge_smoothing_; 00132 }; 00133 00134 /** \brief Specify the feature angle for sharp edge identification. 00135 * \param[in] feature_angle the angle threshold for considering an edge to be sharp 00136 */ 00137 inline void 00138 setFeatureAngle (float feature_angle) 00139 { 00140 feature_angle_ = feature_angle; 00141 }; 00142 00143 /** \brief Get the angle threshold for considering an edge to be sharp */ 00144 inline float 00145 getFeatureAngle () 00146 { 00147 return feature_angle_; 00148 }; 00149 00150 /** \brief Specify the edge angle to control smoothing along edges (either interior or boundary). 00151 * \param[in] edge_angle the angle to control smoothing along edges 00152 */ 00153 inline void 00154 setEdgeAngle (float edge_angle) 00155 { 00156 edge_angle_ = edge_angle; 00157 }; 00158 00159 /** \brief Get the edge angle to control smoothing along edges */ 00160 inline float 00161 getEdgeAngle () 00162 { 00163 return edge_angle_; 00164 }; 00165 00166 00167 /** \brief Turn on/off the smoothing of vertices on the boundary of the mesh. 00168 * \param[in] boundary_smoothing decision whether boundary smoothing is on or off 00169 */ 00170 inline void 00171 setBoundarySmoothing (bool boundary_smoothing) 00172 { 00173 boundary_smoothing_ = boundary_smoothing; 00174 }; 00175 00176 /** \brief Get the status of the boundary smoothing */ 00177 inline bool 00178 getBoundarySmoothing () 00179 { 00180 return boundary_smoothing_; 00181 } 00182 00183 00184 protected: 00185 void 00186 performProcessing (pcl::PolygonMesh &output); 00187 00188 private: 00189 vtkSmartPointer<vtkPolyData> vtk_polygons_; 00190 int num_iter_; 00191 float pass_band_; 00192 bool feature_edge_smoothing_; 00193 float feature_angle_; 00194 float edge_angle_; 00195 bool boundary_smoothing_; 00196 bool normalize_coordinates_; 00197 }; 00198 } 00199 #endif /* VTK_MESH_SMOOTHING_WINDOWED_SINC_H_ */