1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Willow Garage, Inc.
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Willow Garage, Inc. nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 *
35 * $Id$
36 *
37 */
38 #include <pcl/console/print.h>
39 #include <pcl/surface/vtk_smoothing/vtk_mesh_subdivision.h>
40 #include <pcl/surface/vtk_smoothing/vtk_utils.h>
41
42 #include <vtkLinearSubdivisionFilter.h>
43 #include <vtkLoopSubdivisionFilter.h>
44 #include <vtkButterflySubdivisionFilter.h>
45
46
47 //////////////////////////////////////////////////////////////////////////////////////////////
MeshSubdivisionVTK()48 pcl::MeshSubdivisionVTK::MeshSubdivisionVTK ()
49 : filter_type_ (LINEAR)
50 {
51 }
52
53
54 //////////////////////////////////////////////////////////////////////////////////////////////
55 void
performProcessing(pcl::PolygonMesh & output)56 pcl::MeshSubdivisionVTK::performProcessing (pcl::PolygonMesh &output)
57 {
58 // Convert from PCL mesh representation to the VTK representation
59 VTKUtils::convertToVTK (*input_mesh_, vtk_polygons_);
60
61 // Apply the VTK algorithm
62 vtkSmartPointer<vtkPolyDataAlgorithm> vtk_subdivision_filter;
63 switch(filter_type_)
64 {
65 case LINEAR:
66 vtk_subdivision_filter = vtkLinearSubdivisionFilter::New ();
67 break;
68 case LOOP:
69 vtk_subdivision_filter = vtkLoopSubdivisionFilter::New ();
70 break;
71 case BUTTERFLY:
72 vtk_subdivision_filter = vtkButterflySubdivisionFilter::New ();
73 break;
74 default:
75 PCL_ERROR ("[pcl::surface::VTKSmoother::subdivideMesh] Invalid filter selection!\n");
76 return;
77 break;
78 }
79
80 vtk_subdivision_filter->SetInputData (vtk_polygons_);
81 vtk_subdivision_filter->Update ();
82
83 vtk_polygons_ = vtk_subdivision_filter->GetOutput ();
84
85 // Convert the result back to the PCL representation
86 VTKUtils::convertToPCL (vtk_polygons_, output);
87 }
88