Inshaping: include/Normal.h Source File

Inshaping

Inshaping 0.1
include
 #pragma once
 #include<iostream>
 #include<pcl/visualization/pcl_visualizer.h>
 #include<pcl/search/kdtree.h>
 #include<pcl/features/normal_3d.h>
 #include <pcl/kdtree/kdtree_flann.h>
 
 namespace Inshape
 {
  class NormalEstimationPlus : public pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal>
  {
 
  private:
  int coherence;
 
  class WArc
  {
  public:
  struct PointerAndIdx
  {
  pcl::PointNormal* p;
  int index;
 
  //return a copy of
  Eigen::Vector3f normalCopy()
  {
  return p->getNormalVector3fMap();
  }
 
  void invertNormal()
  {
  p->normal_x = -p->normal_x;
  p->normal_y = -p->normal_y;
  p->normal_z = -p->normal_z;
  }
  };
 
  WArc(pcl::PointNormal& _s, int is, pcl::PointNormal& _t, int it) :src({ &_s, is }), trg({ &_t,it }), w(0)
  {
  w = fabs(src.normalCopy().dot(trg.normalCopy()));
  }
 
  PointerAndIdx src;
  PointerAndIdx trg;
  float w;
  bool operator< (const WArc &a) const { return w < a.w; }
  };
 
 
  public:
  NormalEstimationPlus() :pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal>(), coherence(8) {}
 
  //����һ���Բ��� void setCoherence(int _coherence)//
{
coherence = _coherence;
}
//����һ���Բ���
int getCoherence()
{
return coherence;
}
pcl::PointCloud<pcl::PointNormal>::Ptr getCoherencyPointNormals();
static void AddNeighboursToHeap(pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals, int index, int K, pcl::search::KdTree<pcl::PointNormal>::Ptr &tree, std::vector<WArc> &heap, std::shared_ptr<bool>& visited);
static void coherencyPass(pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals, int coherence = 8);
};
/*@}*/
}
  void setCoherence(int _coherence)//
  {
  coherence = _coherence;
  }
 
  //����һ���Բ��� int getCoherence()
{
return coherence;
}
pcl::PointCloud<pcl::PointNormal>::Ptr getCoherencyPointNormals();
static void AddNeighboursToHeap(pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals, int index, int K, pcl::search::KdTree<pcl::PointNormal>::Ptr &tree, std::vector<WArc> &heap, std::shared_ptr<bool>& visited);
static void coherencyPass(pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals, int coherence = 8);
};
/*@}*/
}
  int getCoherence()
  {
  return coherence;
  }
 
  pcl::PointCloud<pcl::PointNormal>::Ptr getCoherencyPointNormals();
 
  static void AddNeighboursToHeap(pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals, int index, int K, pcl::search::KdTree<pcl::PointNormal>::Ptr &tree, std::vector<WArc> &heap, std::shared_ptr<bool>& visited);
 
  static void coherencyPass(pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals, int coherence = 8);
 
  };
 }
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