template <typename PointInT> void
pcl::MeshConstruction<PointInT>::reconstruct (std::vector<pcl::Vertices> &polygons)
{
if (!initCompute ())
{
polygons.clear ();
return;
}
// Check if a space search locator was given
if (check_tree_)
{
if (!tree_)
{
if (input_->isOrganized ())
tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
else
tree_.reset (new pcl::search::KdTree<PointInT> (false));
}
// Send the surface dataset to the spatial locator
tree_->setInputCloud (input_, indices_);
}
// Set up the output dataset
//polygons.clear ();
//polygons.reserve (2 * indices_->size ()); /// NOTE: usually the number of triangles is around twice the number of vertices
// Perform the actual surface reconstruction
performReconstruction (polygons);
deinitCompute ();
}
template <typename PointInT> void
pcl::ConvexHull<PointInT>::performReconstruction (PolygonMesh &output)
{
// Perform reconstruction
pcl::PointCloud<PointInT> hull_points;
performReconstruction (hull_points, output.polygons, true);
// Convert the PointCloud into a PointCloud2
pcl::toROSMsg (hull_points, output.cloud);
}
template <typename PointInT> void
pcl::ConvexHull<PointInT>::reconstruct (PointCloud &points, std::vector<pcl::Vertices> &polygons)
{
points.header = input_->header;
if (!initCompute () || input_->points.empty () || indices_->empty ())
{
points.points.clear ();
return;
}
// Perform the actual surface reconstruction
performReconstruction (points, polygons, true);
points.width = static_cast<uint32_t> (points.points.size ());
points.height = 1;
points.is_dense = true;
deinitCompute ();
}
template <typename PointInT, typename NormalOutT> void
pcl::MovingLeastSquares<PointInT, NormalOutT>::reconstruct (PointCloudIn &output)
{
// check if normals have to be computed/saved
if (normals_)
{
// 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;
if (!initCompute ())
{
output.width = output.height = 0;
output.points.clear ();
return;
}
// Check if a space search locator was given
if (!tree_)
{
PCL_ERROR ("[pcl::%s::compute] No spatial search method was given!\n", getClassName ().c_str ());
output.width = output.height = 0;
output.points.clear ();
return;
}
// Send the surface dataset to the spatial locator
tree_->setInputCloud (input_, indices_);
// Perform the actual surface reconstruction
performReconstruction (output);
deinitCompute ();
}
template <typename PointInT> void
pcl::SurfaceReconstruction<PointInT>::reconstruct (pcl::PolygonMesh &output)
{
// Copy the header
output.header = input_->header;
if (!initCompute ())
{
output.cloud.width = output.cloud.height = 0;
output.cloud.data.clear ();
output.polygons.clear ();
return;
}
// Check if a space search locator was given
if (check_tree_)
{
if (!tree_)
{
if (input_->isOrganized ())
tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
else
tree_.reset (new pcl::search::KdTree<PointInT> (false));
}
// Send the surface dataset to the spatial locator
tree_->setInputCloud (input_, indices_);
}
// Set up the output dataset
pcl::toROSMsg (*input_, output.cloud); /// NOTE: passing in boost shared pointer with * as const& should be OK here
output.polygons.clear ();
output.polygons.reserve (2*indices_->size ()); /// NOTE: usually the number of triangles is around twice the number of vertices
// Perform the actual surface reconstruction
performReconstruction (output);
deinitCompute ();
}
template <typename PointInT> void
pcl::ConvexHull<PointInT>::performReconstruction (std::vector<pcl::Vertices> &polygons)
{
pcl::PointCloud<PointInT> hull_points;
performReconstruction (hull_points, polygons, true);
}
