40 #ifndef PCL_SURFACE_RECONSTRUCTION_IMPL_H_
41 #define PCL_SURFACE_RECONSTRUCTION_IMPL_H_
43 #include <pcl/search/pcl_search.h>
49 template <
typename Po
intInT>
void
53 output.
header = input_->header;
68 if (input_->isOrganized ())
75 tree_->setInputCloud (input_, indices_);
81 output.
polygons.reserve (2*indices_->size ());
83 performReconstruction (output);
89 template <
typename Po
intInT>
void
91 std::vector<pcl::Vertices> &polygons)
94 points.
header = input_->header;
109 if (input_->isOrganized ())
116 tree_->setInputCloud (input_, indices_);
121 polygons.reserve (2 * indices_->size ());
123 performReconstruction (points, polygons);
129 template <
typename Po
intInT>
void
133 output.
header = input_->header;
148 if (input_->isOrganized ())
155 tree_->setInputCloud (input_, indices_);
163 performReconstruction (output);
169 template <
typename Po
intInT>
void
183 if (input_->isOrganized ())
190 tree_->setInputCloud (input_, indices_);
197 performReconstruction (polygons);
void reconstruct(pcl::PolygonMesh &output) override
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
std::uint32_t width
The point cloud width (if organized as an image-structure).
pcl::PCLHeader header
The point cloud header.
std::uint32_t height
The point cloud height (if organized as an image-structure).
void clear()
Removes all points in a cloud and sets the width and height to 0.
void reconstruct(pcl::PolygonMesh &output) override
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.
void toPCLPointCloud2(const pcl::PointCloud< PointT > &cloud, pcl::PCLPointCloud2 &msg)
Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
std::vector< std::uint8_t > data
std::vector< ::pcl::Vertices > polygons
::pcl::PCLPointCloud2 cloud