reconstruction.h

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 * $Id: reconstruction.h 6112 2012-07-03 17:57:04Z aichim $
 *
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#ifndef PCL_SURFACE_RECONSTRUCTION_H_
#define PCL_SURFACE_RECONSTRUCTION_H_

#include <pcl/pcl_base.h>
#include <pcl/PolygonMesh.h>
#include <pcl/search/pcl_search.h>
#include <pcl/ros/conversions.h>
#include <boost/bind.hpp>
#include <boost/function.hpp>

namespace pcl
{
  template <typename PointInT>
  class PCLSurfaceBase: public PCLBase<PointInT>
  {
    public:
      typedef typename pcl::search::Search<PointInT> KdTree;
      typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;

      PCLSurfaceBase () : tree_ () {}

      inline void
      setSearchMethod (const KdTreePtr &tree)
      {
        tree_ = tree;
      }

      inline KdTreePtr 
      getSearchMethod () { return (tree_); }

      virtual void 
      reconstruct (pcl::PolygonMesh &output) = 0;

    protected:
      KdTreePtr tree_;

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

  template <typename PointInT>
  class SurfaceReconstruction: public PCLSurfaceBase<PointInT>
  {
    public:
      using PCLSurfaceBase<PointInT>::input_;
      using PCLSurfaceBase<PointInT>::indices_;
      using PCLSurfaceBase<PointInT>::initCompute;
      using PCLSurfaceBase<PointInT>::deinitCompute;
      using PCLSurfaceBase<PointInT>::tree_;
      using PCLSurfaceBase<PointInT>::getClassName;

      SurfaceReconstruction () : check_tree_ (true) {}

      virtual ~SurfaceReconstruction () {}

      virtual void 
      reconstruct (pcl::PolygonMesh &output);

      virtual void 
      reconstruct (pcl::PointCloud<PointInT> &points,
                   std::vector<pcl::Vertices> &polygons);

    protected:
      bool check_tree_;

      virtual void 
      performReconstruction (pcl::PolygonMesh &output) = 0;

      virtual void 
      performReconstruction (pcl::PointCloud<PointInT> &points, 
                             std::vector<pcl::Vertices> &polygons) = 0;
  };

  template <typename PointInT>
  class MeshConstruction: public PCLSurfaceBase<PointInT>
  {
    public:
      using PCLSurfaceBase<PointInT>::input_;
      using PCLSurfaceBase<PointInT>::indices_;
      using PCLSurfaceBase<PointInT>::initCompute;
      using PCLSurfaceBase<PointInT>::deinitCompute;
      using PCLSurfaceBase<PointInT>::tree_;
      using PCLSurfaceBase<PointInT>::getClassName;

      MeshConstruction () : check_tree_ (true) {}

      virtual ~MeshConstruction () {}

      virtual void 
      reconstruct (pcl::PolygonMesh &output);

      virtual void 
      reconstruct (std::vector<pcl::Vertices> &polygons);

    protected:
      bool check_tree_;

      virtual void 
      performReconstruction (pcl::PolygonMesh &output) = 0;

      virtual void 
      performReconstruction (std::vector<pcl::Vertices> &polygons) = 0;
  };
}

#include <pcl/surface/impl/reconstruction.hpp>

#endif  // PCL_SURFACE_RECONSTRUCTION_H_