Point Cloud Library (PCL)  1.11.1
vtk_mesh_smoothing_laplacian.h
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38 
39 #pragma once
40 
41 #include <pcl/surface/processing.h>
42 #include <pcl/surface/vtk_smoothing/vtk.h>
43 
44 namespace pcl
45 {
46  /** \brief PCL mesh smoothing based on the vtkSmoothPolyDataFilter algorithm from the VTK library.
47  * Please check out the original documentation for more details on the inner workings of the algorithm
48  * Warning: This wrapper does two fairly computationally expensive conversions from the PCL PolygonMesh
49  * data structure to the vtkPolyData data structure and back.
50  */
52  {
53  public:
54  /** \brief Empty constructor that sets the values of the algorithm parameters to the VTK defaults */
56  : num_iter_ (20)
57  , convergence_ (0.0f)
58  , relaxation_factor_ (0.01f)
59  , feature_edge_smoothing_ (false)
60  , feature_angle_ (45.f)
61  , edge_angle_ (15.f)
62  , boundary_smoothing_ (true)
63  {};
64 
65  /** \brief Set the number of iterations for the smoothing filter.
66  * \param[in] num_iter the number of iterations
67  */
68  inline void
69  setNumIter (int num_iter)
70  {
71  num_iter_ = num_iter;
72  };
73 
74  /** \brief Get the number of iterations. */
75  inline int
76  getNumIter () const
77  {
78  return num_iter_;
79  };
80 
81  /** \brief Specify a convergence criterion for the iteration process. Smaller numbers result in more smoothing iterations.
82  * \param[in] convergence convergence criterion for the Laplacian smoothing
83  */
84  inline void
85  setConvergence (float convergence)
86  {
87  convergence_ = convergence;
88  };
89 
90  /** \brief Get the convergence criterion. */
91  inline float
92  getConvergence () const
93  {
94  return convergence_;
95  };
96 
97  /** \brief Specify the relaxation factor for Laplacian smoothing. As in all iterative methods,
98  * the stability of the process is sensitive to this parameter.
99  * In general, small relaxation factors and large numbers of iterations are more stable than larger relaxation
100  * factors and smaller numbers of iterations.
101  * \param[in] relaxation_factor the relaxation factor of the Laplacian smoothing algorithm
102  */
103  inline void
104  setRelaxationFactor (float relaxation_factor)
105  {
106  relaxation_factor_ = relaxation_factor;
107  };
108 
109  /** \brief Get the relaxation factor of the Laplacian smoothing */
110  inline float
112  {
113  return relaxation_factor_;
114  };
115 
116  /** \brief Turn on/off smoothing along sharp interior edges.
117  * \param[in] feature_edge_smoothing whether to enable/disable smoothing along sharp interior edges
118  */
119  inline void
120  setFeatureEdgeSmoothing (bool feature_edge_smoothing)
121  {
122  feature_edge_smoothing_ = feature_edge_smoothing;
123  };
124 
125  /** \brief Get the status of the feature edge smoothing */
126  inline bool
128  {
129  return feature_edge_smoothing_;
130  };
131 
132  /** \brief Specify the feature angle for sharp edge identification.
133  * \param[in] feature_angle the angle threshold for considering an edge to be sharp
134  */
135  inline void
136  setFeatureAngle (float feature_angle)
137  {
138  feature_angle_ = feature_angle;
139  };
140 
141  /** \brief Get the angle threshold for considering an edge to be sharp */
142  inline float
144  {
145  return feature_angle_;
146  };
147 
148  /** \brief Specify the edge angle to control smoothing along edges (either interior or boundary).
149  * \param[in] edge_angle the angle to control smoothing along edges
150  */
151  inline void
152  setEdgeAngle (float edge_angle)
153  {
154  edge_angle_ = edge_angle;
155  };
156 
157  /** \brief Get the edge angle to control smoothing along edges */
158  inline float
159  getEdgeAngle () const
160  {
161  return edge_angle_;
162  };
163 
164  /** \brief Turn on/off the smoothing of vertices on the boundary of the mesh.
165  * \param[in] boundary_smoothing decision whether boundary smoothing is on or off
166  */
167  inline void
168  setBoundarySmoothing (bool boundary_smoothing)
169  {
170  boundary_smoothing_ = boundary_smoothing;
171  };
172 
173  /** \brief Get the status of the boundary smoothing */
174  inline bool
176  {
177  return boundary_smoothing_;
178  }
179 
180  protected:
181  void
183 
184  private:
185  vtkSmartPointer<vtkPolyData> vtk_polygons_;
186 
187  /// Parameters
188  int num_iter_;
189  float convergence_;
190  float relaxation_factor_;
191  bool feature_edge_smoothing_;
192  float feature_angle_;
193  float edge_angle_;
194  bool boundary_smoothing_;
195  };
196 }
pcl
Definition: convolution.h:46
pcl::MeshSmoothingLaplacianVTK::getRelaxationFactor
float getRelaxationFactor() const
Get the relaxation factor of the Laplacian smoothing.
Definition: vtk_mesh_smoothing_laplacian.h:111
pcl::MeshSmoothingLaplacianVTK::MeshSmoothingLaplacianVTK
MeshSmoothingLaplacianVTK()
Empty constructor that sets the values of the algorithm parameters to the VTK defaults.
Definition: vtk_mesh_smoothing_laplacian.h:55
pcl::MeshSmoothingLaplacianVTK::getEdgeAngle
float getEdgeAngle() const
Get the edge angle to control smoothing along edges.
Definition: vtk_mesh_smoothing_laplacian.h:159
pcl::MeshSmoothingLaplacianVTK::setNumIter
void setNumIter(int num_iter)
Set the number of iterations for the smoothing filter.
Definition: vtk_mesh_smoothing_laplacian.h:69
pcl::MeshSmoothingLaplacianVTK::setFeatureAngle
void setFeatureAngle(float feature_angle)
Specify the feature angle for sharp edge identification.
Definition: vtk_mesh_smoothing_laplacian.h:136
pcl::MeshSmoothingLaplacianVTK::setRelaxationFactor
void setRelaxationFactor(float relaxation_factor)
Specify the relaxation factor for Laplacian smoothing.
Definition: vtk_mesh_smoothing_laplacian.h:104
pcl::MeshSmoothingLaplacianVTK::setFeatureEdgeSmoothing
void setFeatureEdgeSmoothing(bool feature_edge_smoothing)
Turn on/off smoothing along sharp interior edges.
Definition: vtk_mesh_smoothing_laplacian.h:120
pcl::PolygonMesh
Definition: PolygonMesh.h:16
pcl::MeshSmoothingLaplacianVTK::getFeatureAngle
float getFeatureAngle() const
Get the angle threshold for considering an edge to be sharp.
Definition: vtk_mesh_smoothing_laplacian.h:143
pcl::MeshSmoothingLaplacianVTK::performProcessing
void performProcessing(pcl::PolygonMesh &output) override
Abstract surface processing method.
pcl::MeshSmoothingLaplacianVTK::getConvergence
float getConvergence() const
Get the convergence criterion.
Definition: vtk_mesh_smoothing_laplacian.h:92
pcl::MeshSmoothingLaplacianVTK::setEdgeAngle
void setEdgeAngle(float edge_angle)
Specify the edge angle to control smoothing along edges (either interior or boundary).
Definition: vtk_mesh_smoothing_laplacian.h:152
pcl::MeshSmoothingLaplacianVTK::getBoundarySmoothing
bool getBoundarySmoothing() const
Get the status of the boundary smoothing.
Definition: vtk_mesh_smoothing_laplacian.h:175
pcl::MeshSmoothingLaplacianVTK::setBoundarySmoothing
void setBoundarySmoothing(bool boundary_smoothing)
Turn on/off the smoothing of vertices on the boundary of the mesh.
Definition: vtk_mesh_smoothing_laplacian.h:168
pcl::MeshSmoothingLaplacianVTK::getNumIter
int getNumIter() const
Get the number of iterations.
Definition: vtk_mesh_smoothing_laplacian.h:76
pcl::MeshSmoothingLaplacianVTK::setConvergence
void setConvergence(float convergence)
Specify a convergence criterion for the iteration process.
Definition: vtk_mesh_smoothing_laplacian.h:85
pcl::MeshSmoothingLaplacianVTK
PCL mesh smoothing based on the vtkSmoothPolyDataFilter algorithm from the VTK library.
Definition: vtk_mesh_smoothing_laplacian.h:52
pcl::MeshProcessing
MeshProcessing represents the base class for mesh processing algorithms.
Definition: processing.h:95
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:328
vtkSmartPointer< vtkPolyData >
pcl::MeshSmoothingLaplacianVTK::getFeatureEdgeSmoothing
bool getFeatureEdgeSmoothing() const
Get the status of the feature edge smoothing.
Definition: vtk_mesh_smoothing_laplacian.h:127