processing.h
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#pragma once
#include <pcl/pcl_base.h>
#include <pcl/point_cloud.h>
#include <pcl/PolygonMesh.h>
namespace pcl
{
/** \brief @b CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and
* produces a new output cloud that has been modified towards a better surface representation. These types of
* algorithms include surface smoothing, hole filling, cloud upsampling etc.
*
* \author Alexandru E. Ichim
* \ingroup surface
*/
template <typename PointInT, typename PointOutT>
class CloudSurfaceProcessing : public PCLBase<PointInT>
{
public:
typedef shared_ptr<CloudSurfaceProcessing<PointInT, PointOutT> > Ptr;
typedef shared_ptr<const CloudSurfaceProcessing<PointInT, PointOutT> > ConstPtr;
using PCLBase<PointInT>::input_;
using PCLBase<PointInT>::indices_;
using PCLBase<PointInT>::initCompute;
using PCLBase<PointInT>::deinitCompute;
public:
/** \brief Constructor. */
CloudSurfaceProcessing () : PCLBase<PointInT> ()
{};
/** \brief Empty destructor */
~CloudSurfaceProcessing () {}
/** \brief Process the input cloud and store the results
* \param[out] output the cloud where the results will be stored
*/
virtual void
process (pcl::PointCloud<PointOutT> &output);
protected:
/** \brief Abstract cloud processing method */
virtual void
performProcessing (pcl::PointCloud<PointOutT> &output) = 0;
};
/** \brief @b MeshProcessing represents the base class for mesh processing algorithms.
* \author Alexandru E. Ichim
* \ingroup surface
*/
class PCL_EXPORTS MeshProcessing
{
public:
using Ptr = shared_ptr<MeshProcessing>;
using ConstPtr = shared_ptr<const MeshProcessing>;
using PolygonMeshConstPtr = PolygonMesh::ConstPtr;
/** \brief Constructor. */
MeshProcessing () {}
/** \brief Destructor. */
virtual ~MeshProcessing () {}
/** \brief Set the input mesh that we want to process
* \param[in] input the input polygonal mesh
*/
inline void
setInputMesh (const pcl::PolygonMeshConstPtr &input)
{ input_mesh_ = input; }
/** \brief Get the input mesh to be processed
* \returns the mesh
*/
inline pcl::PolygonMeshConstPtr
getInputMesh () const
{ return input_mesh_; }
/** \brief Process the input surface mesh and store the results
* \param[out] output the resultant processed surface model
*/
void
process (pcl::PolygonMesh &output);
protected:
/** \brief Initialize computation. Must be called before processing starts. */
virtual bool
initCompute ();
/** \brief UnInitialize computation. Must be called after processing ends. */
virtual void
deinitCompute ();
/** \brief Abstract surface processing method. */
virtual void
performProcessing (pcl::PolygonMesh &output) = 0;
/** \brief Abstract class get name method. */
virtual std::string
getClassName () const
{ return (""); }
/** \brief Input polygonal mesh. */
pcl::PolygonMeshConstPtr input_mesh_;
};
}
#include "pcl/surface/impl/processing.hpp"
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::CloudSurfaceProcessing::Ptr
shared_ptr< CloudSurfaceProcessing< PointInT, PointOutT > > Ptr
Definition: processing.h:59
pcl::MeshProcessing::MeshProcessing
MeshProcessing()
Constructor.
Definition: processing.h:102
pcl::MeshProcessing::ConstPtr
shared_ptr< const MeshProcessing > ConstPtr
Definition: processing.h:97
pcl::PolygonMesh::ConstPtr
shared_ptr< const ::pcl::PolygonMesh > ConstPtr
Definition: PolygonMesh.h:98
pcl::CloudSurfaceProcessing::CloudSurfaceProcessing
CloudSurfaceProcessing()
Constructor.
Definition: processing.h:69
pcl::CloudSurfaceProcessing::process
virtual void process(pcl::PointCloud< PointOutT > &output)
Process the input cloud and store the results.
Definition: processing.hpp:43
pcl::MeshProcessing::setInputMesh
void setInputMesh(const pcl::PolygonMeshConstPtr &input)
Set the input mesh that we want to process.
Definition: processing.h:111
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:69
pcl::PointCloud< PointOutT >
pcl::MeshProcessing::PolygonMeshConstPtr
PolygonMesh::ConstPtr PolygonMeshConstPtr
Definition: processing.h:99
pcl::MeshProcessing::getInputMesh
pcl::PolygonMeshConstPtr getInputMesh() const
Get the input mesh to be processed.
Definition: processing.h:118
pcl::MeshProcessing::getClassName
virtual std::string getClassName() const
Abstract class get name method.
Definition: processing.h:142
pcl::CloudSurfaceProcessing::performProcessing
virtual void performProcessing(pcl::PointCloud< PointOutT > &output)=0
Abstract cloud processing method.
pcl::PolygonMeshConstPtr
PolygonMesh::ConstPtr PolygonMeshConstPtr
Definition: PolygonMesh.h:102
pcl::PolygonMesh
Definition: PolygonMesh.h:15
pcl::CloudSurfaceProcessing::ConstPtr
shared_ptr< const CloudSurfaceProcessing< PointInT, PointOutT > > ConstPtr
Definition: processing.h:60
pcl::CloudSurfaceProcessing
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
Definition: processing.h:56
pcl::MeshProcessing::input_mesh_
pcl::PolygonMeshConstPtr input_mesh_
Input polygonal mesh.
Definition: processing.h:146
pcl::MeshProcessing::Ptr
shared_ptr< MeshProcessing > Ptr
Definition: processing.h:96
pcl::MeshProcessing::~MeshProcessing
virtual ~MeshProcessing()
Destructor.
Definition: processing.h:105
pcl::MeshProcessing
MeshProcessing represents the base class for mesh processing algorithms.
Definition: processing.h:93
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:253
pcl::CloudSurfaceProcessing::~CloudSurfaceProcessing
~CloudSurfaceProcessing()
Empty destructor.
Definition: processing.h:73
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90