template <typename PointInT, typename PointOutT> void
pcl::CloudSurfaceProcessing<PointInT, PointOutT>::process (pcl::PointCloud<PointOutT> &output)
{
// Copy the header
output.header = input_->header;
if (!initCompute ())
{
output.width = output.height = 0;
output.points.clear ();
return;
}
// Perform the actual surface reconstruction
performProcessing (output);
deinitCompute ();
}
template <typename PointInT, typename PointOutT> void
pcl::BilateralUpsampling<PointInT, PointOutT>::process (pcl::PointCloud<PointOutT> &output)
{
// Copy the header
output.header = input_->header;
if (!initCompute ())
{
output.width = output.height = 0;
output.points.clear ();
return;
}
if (input_->isOrganized () == false)
{
PCL_ERROR ("Input cloud is not organized.\n");
return;
}
// Invert projection matrix
unprojection_matrix_ = projection_matrix_.inverse ();
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
printf ("%f ", unprojection_matrix_(i, j));
printf ("\n");
}
// Perform the actual surface reconstruction
performProcessing (output);
deinitCompute ();
}
template <typename PointInT, typename PointOutT> void
pcl::MovingLeastSquares<PointInT, PointOutT>::process (PointCloudOut &output)
{
// Check if normals have to be computed/saved
if (compute_normals_)
{
normals_.reset (new NormalCloud);
// Copy the header
normals_->header = input_->header;
// Clear the fields in case the method exits before computation
normals_->width = normals_->height = 0;
normals_->points.clear ();
}
// Copy the header
output.header = input_->header;
output.width = output.height = 0;
output.points.clear ();
if (search_radius_ <= 0 || sqr_gauss_param_ <= 0)
{
PCL_ERROR ("[pcl::%s::reconstruct] Invalid search radius (%f) or Gaussian parameter (%f)!\n", getClassName ().c_str (), search_radius_, sqr_gauss_param_);
return;
}
if (!initCompute ())
return;
// Initialize the spatial locator
if (!tree_)
{
KdTreePtr tree;
if (input_->isOrganized ())
tree.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
else
tree.reset (new pcl::search::KdTree<PointInT> (false));
setSearchMethod (tree);
}
// Send the surface dataset to the spatial locator
tree_->setInputCloud (input_, indices_);
// Initialize random number generator if necessary
switch (upsample_method_)
{
case (RANDOM_UNIFORM_DENSITY):
{
boost::mt19937 *rng = new boost::mt19937 (static_cast<unsigned int>(std::time(0)));
float tmp = static_cast<float> (search_radius_ / 2.0f);
boost::uniform_real<float> *uniform_distrib = new boost::uniform_real<float> (-tmp, tmp);
rng_uniform_distribution_ = new boost::variate_generator<boost::mt19937, boost::uniform_real<float> > (*rng, *uniform_distrib);
break;
}
case (VOXEL_GRID_DILATION):
{
mls_results_.resize (input_->size ());
break;
}
default:
break;
}
// Perform the actual surface reconstruction
performProcessing (output);
if (compute_normals_)
{
normals_->height = 1;
normals_->width = static_cast<uint32_t> (normals_->size ());
// TODO!!! MODIFY TO PER-CLOUD COPYING - much faster than per-point
for (unsigned int i = 0; i < output.size (); ++i)
{
typedef typename pcl::traits::fieldList<PointOutT>::type FieldList;
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_x", normals_->points[i].normal_x));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_y", normals_->points[i].normal_y));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_z", normals_->points[i].normal_z));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "curvature", normals_->points[i].curvature));
}
}
// Set proper widths and heights for the clouds
output.height = 1;
output.width = static_cast<uint32_t> (output.size ());
deinitCompute ();
}
template <typename PointInT, typename PointOutT> void
pcl::MovingLeastSquares<PointInT, PointOutT>::process (PointCloudOut &output)
{
// Reset or initialize the collection of indices
corresponding_input_indices_.reset (new PointIndices);
// Check if normals have to be computed/saved
if (compute_normals_)
{
normals_.reset (new NormalCloud);
// Copy the header
normals_->header = input_->header;
// Clear the fields in case the method exits before computation
normals_->width = normals_->height = 0;
normals_->points.clear ();
}
// Copy the header
output.header = input_->header;
output.width = output.height = 0;
output.points.clear ();
if (search_radius_ <= 0 || sqr_gauss_param_ <= 0)
{
PCL_ERROR ("[pcl::%s::process] Invalid search radius (%f) or Gaussian parameter (%f)!\n", getClassName ().c_str (), search_radius_, sqr_gauss_param_);
return;
}
// Check if distinct_cloud_ was set
if (upsample_method_ == DISTINCT_CLOUD && !distinct_cloud_)
{
PCL_ERROR ("[pcl::%s::process] Upsample method was set to DISTINCT_CLOUD, but no distinct cloud was specified.\n", getClassName ().c_str ());
return;
}
if (!initCompute ())
return;
// Initialize the spatial locator
if (!tree_)
{
KdTreePtr tree;
if (input_->isOrganized ())
tree.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
else
tree.reset (new pcl::search::KdTree<PointInT> (false));
setSearchMethod (tree);
}
// Send the surface dataset to the spatial locator
tree_->setInputCloud (input_);
switch (upsample_method_)
{
// Initialize random number generator if necessary
case (RANDOM_UNIFORM_DENSITY):
{
rng_alg_.seed (static_cast<unsigned> (std::time (0)));
float tmp = static_cast<float> (search_radius_ / 2.0f);
boost::uniform_real<float> uniform_distrib (-tmp, tmp);
rng_uniform_distribution_.reset (new boost::variate_generator<boost::mt19937&, boost::uniform_real<float> > (rng_alg_, uniform_distrib));
break;
}
case (VOXEL_GRID_DILATION):
case (DISTINCT_CLOUD):
{
if (!cache_mls_results_)
PCL_WARN ("The cache mls results is forced when using upsampling method VOXEL_GRID_DILATION or DISTINCT_CLOUD.\n");
cache_mls_results_ = true;
break;
}
default:
break;
}
if (cache_mls_results_)
{
mls_results_.resize (input_->size ());
}
else
{
mls_results_.resize (1); // Need to have a reference to a single dummy result.
}
// Perform the actual surface reconstruction
performProcessing (output);
if (compute_normals_)
{
normals_->height = 1;
normals_->width = static_cast<uint32_t> (normals_->size ());
for (unsigned int i = 0; i < output.size (); ++i)
{
typedef typename pcl::traits::fieldList<PointOutT>::type FieldList;
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_x", normals_->points[i].normal_x));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_y", normals_->points[i].normal_y));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "normal_z", normals_->points[i].normal_z));
pcl::for_each_type<FieldList> (SetIfFieldExists<PointOutT, float> (output.points[i], "curvature", normals_->points[i].curvature));
}
}
// Set proper widths and heights for the clouds
output.height = 1;
output.width = static_cast<uint32_t> (output.size ());
deinitCompute ();
}