Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/surface/include/pcl/surface/vtk_smoothing/vtk_mesh_smoothing_laplacian.h
00001 /*
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00038 
00039 #ifndef VTK_MESH_SMOOTHING_LAPLACIAN_H_
00040 #define VTK_MESH_SMOOTHING_LAPLACIAN_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 vtkSmoothPolyDataFilter 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 MeshSmoothingLaplacianVTK : public MeshProcessing
00053   {
00054     public:
00055       /** \brief Empty constructor that sets the values of the algorithm parameters to the VTK defaults */
00056       MeshSmoothingLaplacianVTK ()
00057         : MeshProcessing ()
00058         , vtk_polygons_ ()
00059         , num_iter_ (20)
00060         , convergence_ (0.0f)
00061         , relaxation_factor_ (0.01f)
00062         , feature_edge_smoothing_ (false)
00063         , feature_angle_ (45.f)
00064         , edge_angle_ (15.f)
00065         , boundary_smoothing_ (true)
00066       {};
00067 
00068       /** \brief Set the number of iterations for the smoothing filter.
00069         * \param[in] num_iter the number of iterations
00070         */
00071       inline void
00072       setNumIter (int num_iter)
00073       {
00074         num_iter_ = num_iter;
00075       };
00076 
00077       /** \brief Get the number of iterations. */
00078       inline int
00079       getNumIter ()
00080       {
00081         return num_iter_;
00082       };
00083 
00084       /** \brief Specify a convergence criterion for the iteration process. Smaller numbers result in more smoothing iterations.
00085        * \param[in] convergence convergence criterion for the Laplacian smoothing
00086        */
00087       inline void
00088       setConvergence (float convergence)
00089       {
00090         convergence_ = convergence;
00091       };
00092 
00093       /** \brief Get the convergence criterion. */
00094       inline float
00095       getConvergence ()
00096       {
00097         return convergence_;
00098       };
00099 
00100       /** \brief Specify the relaxation factor for Laplacian smoothing. As in all iterative methods,
00101        * the stability of the process is sensitive to this parameter.
00102        * In general, small relaxation factors and large numbers of iterations are more stable than larger relaxation
00103        * factors and smaller numbers of iterations.
00104        * \param[in] relaxation_factor the relaxation factor of the Laplacian smoothing algorithm
00105        */
00106       inline void
00107       setRelaxationFactor (float relaxation_factor)
00108       {
00109         relaxation_factor_ = relaxation_factor;
00110       };
00111 
00112       /** \brief Get the relaxation factor of the Laplacian smoothing */
00113       inline float
00114       getRelaxationFactor ()
00115       {
00116         return relaxation_factor_;
00117       };
00118 
00119       /** \brief Turn on/off smoothing along sharp interior edges.
00120        * \param[in] status decision whether to enable/disable smoothing along sharp interior edges
00121        */
00122       inline void
00123       setFeatureEdgeSmoothing (bool feature_edge_smoothing)
00124       {
00125         feature_edge_smoothing_ = feature_edge_smoothing;
00126       };
00127 
00128       /** \brief Get the status of the feature edge smoothing */
00129       inline bool
00130       getFeatureEdgeSmoothing ()
00131       {
00132         return feature_edge_smoothing_;
00133       };
00134 
00135       /** \brief Specify the feature angle for sharp edge identification.
00136        * \param[in] feature_angle the angle threshold for considering an edge to be sharp
00137        */
00138       inline void
00139       setFeatureAngle (float feature_angle)
00140       {
00141         feature_angle_ = feature_angle;
00142       };
00143 
00144       /** \brief Get the angle threshold for considering an edge to be sharp */
00145       inline float
00146       getFeatureAngle ()
00147       {
00148         return feature_angle_;
00149       };
00150 
00151       /** \brief Specify the edge angle to control smoothing along edges (either interior or boundary).
00152        * \param[in] edge_angle the angle to control smoothing along edges
00153        */
00154       inline void
00155       setEdgeAngle (float edge_angle)
00156       {
00157         edge_angle_ = edge_angle;
00158       };
00159 
00160       /** \brief Get the edge angle to control smoothing along edges */
00161       inline float
00162       getEdgeAngle ()
00163       {
00164         return edge_angle_;
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     protected:
00184       void
00185       performProcessing (pcl::PolygonMesh &output);
00186 
00187     private:
00188       vtkSmartPointer<vtkPolyData> vtk_polygons_;
00189 
00190       /// Parameters
00191       int num_iter_;
00192       float convergence_;
00193       float relaxation_factor_;
00194       bool feature_edge_smoothing_;
00195       float feature_angle_;
00196       float edge_angle_;
00197       bool boundary_smoothing_;
00198   };
00199 }
00200 #endif /* VTK_MESH_SMOOTHING_LAPLACIAN_H_ */