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processing.h
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39 
40 #pragma once
41 
42 #include <pcl/pcl_base.h>
43 #include <pcl/point_cloud.h>
44 #include <pcl/PolygonMesh.h>
45 
46 namespace pcl
47 {
48  /** \brief @b CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and
49  * produces a new output cloud that has been modified towards a better surface representation. These types of
50  * algorithms include surface smoothing, hole filling, cloud upsampling etc.
51  *
52  * \author Alexandru E. Ichim
53  * \ingroup surface
54  */
55  template <typename PointInT, typename PointOutT>
56  class CloudSurfaceProcessing : public PCLBase<PointInT>
57  {
58  public:
59  typedef shared_ptr<CloudSurfaceProcessing<PointInT, PointOutT> > Ptr;
60  typedef shared_ptr<const CloudSurfaceProcessing<PointInT, PointOutT> > ConstPtr;
61 
66 
67  public:
68  /** \brief Constructor. */
69  CloudSurfaceProcessing () : PCLBase<PointInT> ()
70  {};
71 
72  /** \brief Empty destructor */
74 
75  /** \brief Process the input cloud and store the results
76  * \param[out] output the cloud where the results will be stored
77  */
78  virtual void
80 
81  protected:
82  /** \brief Abstract cloud processing method */
83  virtual void
85 
86  };
87 
88 
89  /** \brief @b MeshProcessing represents the base class for mesh processing algorithms.
90  * \author Alexandru E. Ichim
91  * \ingroup surface
92  */
93  class PCL_EXPORTS MeshProcessing
94  {
95  public:
96  using Ptr = shared_ptr<MeshProcessing>;
97  using ConstPtr = shared_ptr<const MeshProcessing>;
98 
100 
101  /** \brief Constructor. */
103 
104  /** \brief Destructor. */
105  virtual ~MeshProcessing () {}
106 
107  /** \brief Set the input mesh that we want to process
108  * \param[in] input the input polygonal mesh
109  */
110  inline void
112  { input_mesh_ = input; }
113 
114  /** \brief Get the input mesh to be processed
115  * \returns the mesh
116  */
118  getInputMesh () const
119  { return input_mesh_; }
120 
121  /** \brief Process the input surface mesh and store the results
122  * \param[out] output the resultant processed surface model
123  */
124  void
125  process (pcl::PolygonMesh &output);
126 
127  protected:
128  /** \brief Initialize computation. Must be called before processing starts. */
129  virtual bool
130  initCompute ();
131 
132  /** \brief UnInitialize computation. Must be called after processing ends. */
133  virtual void
134  deinitCompute ();
135 
136  /** \brief Abstract surface processing method. */
137  virtual void
138  performProcessing (pcl::PolygonMesh &output) = 0;
139 
140  /** \brief Abstract class get name method. */
141  virtual std::string
142  getClassName () const
143  { return (""); }
144 
145  /** \brief Input polygonal mesh. */
147  };
148 }
149 
150 #include "pcl/surface/impl/processing.hpp"
shared_ptr< const MeshProcessing > ConstPtr
Definition: processing.h:97
MeshProcessing()
Constructor.
Definition: processing.h:102
MeshProcessing represents the base class for mesh processing algorithms.
Definition: processing.h:93
void setInputMesh(const pcl::PolygonMeshConstPtr &input)
Set the input mesh that we want to process.
Definition: processing.h:111
PolygonMesh::ConstPtr PolygonMeshConstPtr
Definition: processing.h:99
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
Definition: processing.h:56
shared_ptr< const CloudSurfaceProcessing< PointInT, PointOutT > > ConstPtr
Definition: processing.h:60
shared_ptr< const ::pcl::PolygonMesh > ConstPtr
Definition: PolygonMesh.h:98
PCL base class.
Definition: pcl_base.h:69
pcl::PolygonMeshConstPtr getInputMesh() const
Get the input mesh to be processed.
Definition: processing.h:118
shared_ptr< CloudSurfaceProcessing< PointInT, PointOutT > > Ptr
Definition: processing.h:59
PolygonMesh::ConstPtr PolygonMeshConstPtr
Definition: PolygonMesh.h:102
pcl::PolygonMeshConstPtr input_mesh_
Input polygonal mesh.
Definition: processing.h:146
virtual std::string getClassName() const
Abstract class get name method.
Definition: processing.h:142
virtual void performProcessing(pcl::PointCloud< PointOutT > &output)=0
Abstract cloud processing method.
CloudSurfaceProcessing()
Constructor.
Definition: processing.h:69
shared_ptr< MeshProcessing > Ptr
Definition: processing.h:96
virtual void process(pcl::PointCloud< PointOutT > &output)
Process the input cloud and store the results.
Definition: processing.hpp:47
~CloudSurfaceProcessing()
Empty destructor.
Definition: processing.h:73
virtual ~MeshProcessing()
Destructor.
Definition: processing.h:105