Point Cloud Library (PCL)  1.3.1
vtk_smoother.h
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00001 /*
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00035  * $Id: vtk_smoother.h 2642 2011-10-06 15:48:29Z jspricke $
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00038 
00039 #ifndef VTK_SMOOTHER_H_
00040 #define VTK_SMOOTHER_H_
00041 
00042 #include <pcl/pcl_base.h>
00043 #include <pcl/PolygonMesh.h>
00044 #include <vtkPolyData.h>
00045 #include <vtkSmartPointer.h>
00046 
00047 namespace pcl
00048 {
00049   namespace surface
00050   {
00059     class PCL_EXPORTS VTKSmoother
00060     {
00061       public:
00063         VTKSmoother () :
00064           vtk_polygons_ (vtkPolyData::New ()), subdivision_filter_ (2), num_iter_ (20), feature_angle_ (120.0),
00065               pass_band_ (0.01)
00066         {
00067         };
00068 
00070         VTKSmoother (int subdivision_filter, int num_iter, float feature_angle, float pass_band) :
00071           vtk_polygons_ (vtkPolyData::New ()), subdivision_filter_ (subdivision_filter), num_iter_ (num_iter),
00072               feature_angle_ (feature_angle), pass_band_ (pass_band)
00073         {
00074         };
00075 
00079         int
00080         convertToVTK (const pcl::PolygonMesh &triangles);
00081 
00083         void
00084         subdivideMesh ();
00085 
00087         void
00088         smoothMeshWindowedSinc ();
00089 
00091         void
00092         smoothMeshLaplacian ();
00093 
00097         void
00098         convertToPCL (pcl::PolygonMesh &triangles);
00099 
00103         inline void
00104         setSubdivisionFilter (int subdivision_filter)
00105         {
00106           subdivision_filter_ = subdivision_filter;
00107         };
00108 
00112         inline void
00113         setNumIter (int num_iter)
00114         {
00115           num_iter_ = num_iter;
00116         };
00117 
00121         inline void
00122         setFeatureAngle (float feature_angle)
00123         {
00124           feature_angle_ = feature_angle;
00125         };
00126 
00130         inline void
00131         setPassBand (float pass_band)
00132         {
00133           pass_band_ = pass_band;
00134         };
00135 
00137         inline int
00138         getSubdivisionFilter ()
00139         {
00140           return subdivision_filter_;
00141         };
00142 
00144         inline int
00145         getNumIter ()
00146         {
00147           return num_iter_;
00148         };
00149 
00151         inline float
00152         getFeatureAngle ()
00153         {
00154           return feature_angle_;
00155         };
00156 
00158         inline float
00159         getPassBand ()
00160         {
00161           return pass_band_;
00162         };
00163 
00164       private:
00165 
00171         int 
00172         vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, pcl::PolygonMesh& mesh);
00173 
00179         int 
00180         mesh2vtk (const pcl::PolygonMesh& mesh, vtkSmartPointer<vtkPolyData> &poly_data);
00181 
00182         vtkSmartPointer<vtkPolyData> vtk_polygons_;
00183 
00187         int subdivision_filter_;
00188 
00192         int num_iter_;
00193 
00195         float feature_angle_;
00196 
00200         float pass_band_;
00201     };
00202   }
00203 }
00204 
00205 #endif /* VTK_SMOOTHER_H_ */
00206 
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