poisson.h

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 * $Id: poisson.h 5036 2012-03-12 08:54:15Z rusu $
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#ifndef PCL_SURFACE_POISSON_H_
#define PCL_SURFACE_POISSON_H_

#include <pcl/surface/reconstruction.h>
#include <pcl/surface/poisson/geometry.h>

namespace pcl
{
  template<typename PointNT>
  class Poisson : public SurfaceReconstruction<PointNT>
  {
    public:
      using SurfaceReconstruction<PointNT>::input_;
      using SurfaceReconstruction<PointNT>::tree_;

      typedef typename pcl::PointCloud<PointNT>::Ptr PointCloudPtr;

      typedef typename pcl::KdTree<PointNT> KdTree;
      typedef typename pcl::KdTree<PointNT>::Ptr KdTreePtr;

      Poisson ();

      ~Poisson ();

      void
      performReconstruction (pcl::PolygonMesh &output);

      void
      performReconstruction (pcl::PointCloud<PointNT> &points,
                             std::vector<pcl::Vertices> &polygons);

      inline void
      setConfidence (bool confidence) { confidence_ = confidence; }

      inline bool
      getConfidence () { return confidence_; }

      inline void
      setManifold (bool manifold) { manifold_ = manifold; }

      inline bool
      getManifold () { return manifold_; }

      inline void
      setOutputPolygons (bool output_polygons) { output_polygons_ = output_polygons; }

      inline bool
      getOutputPolygons () { return output_polygons_; }


      inline void
      setDepth (int depth) { depth_ = depth; }

      inline int
      getDepth () { return depth_; }

      inline void
      setSolverDivide (int solver_divide) { solver_divide_ = solver_divide; }

      inline int
      getSolverDivide () { return solver_divide_; }

      inline void
      setIsoDivide (int iso_divide) { iso_divide_ = iso_divide; }

      inline int
      getIsoDivide () { return iso_divide_; }

      inline void
      setSamplesPerNode (float samples_per_node) { samples_per_node_ = samples_per_node; }

      inline float
      getSamplesPerNode () { return samples_per_node_; }

      inline void
      setScale (float scale) { scale_ = scale; }

      inline float
      getScale () { return scale_; }

      inline void
      setDegree (int degree) { degree_ = degree; }

      inline int
      getDegree () { return degree_; }


    protected:
      PointCloudPtr data_;

      std::string
      getClassName () const { return ("Poisson"); }

    private:
      bool no_reset_samples_;
      bool no_clip_tree_;
      bool confidence_;
      bool manifold_;
      bool output_polygons_;

      int depth_;
      int solver_divide_;
      int iso_divide_;
      int refine_;
      int kernel_depth_;
      int degree_;

      float samples_per_node_;
      float scale_;

      template<int Degree> void
      execute (poisson::CoredMeshData &mesh,
               poisson::Point3D<float> &translate,
               float &scale);

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  // PCL_SURFACE_POISSON_H_