GreedyProjectionTriangulation is an implementation of a greedy triangulation algorithm for 3D points based on local 2D projections. More...

#include <pcl/surface/gp3.h>

Inheritance diagram for pcl::GreedyProjectionTriangulation< PointInT >:

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Collaboration diagram for pcl::GreedyProjectionTriangulation< PointInT >:

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List of all members.

Classes
struct	doubleEdge
	Struct for storing the edges starting from a fringe point.
struct	nnAngle
	Struct for storing the angles to nearest neighbors.
Public Types
enum	{ NONE = -1, FREE = 0, FRINGE = 1, BOUNDARY = 2, COMPLETED = 3 }
typedef pcl::KdTree< PointInT >	KdTree
typedef pcl::KdTree< PointInT > ::Ptr	KdTreePtr
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	GreedyProjectionTriangulation ()
	Empty constructor.
void	setMu (double mu)
	Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point (this will make the algorithm adapt to different point densities in the cloud).
double	getMu ()
	Get the nearest neighbor distance multiplier.
void	setMaximumNearestNeighbors (int nnn)
	Set the maximum number of nearest neighbors to be searched for.
int	getMaximumNearestNeighbors ()
	Get the maximum number of nearest neighbors to be searched for.
void	setSearchRadius (double radius)
	Set the sphere radius that is to be used for determining the k-nearest neighbors used for triangulating.
double	getSearchRadius ()
	Get the sphere radius used for determining the k-nearest neighbors.
void	setMinimumAngle (double minimum_angle)
	Set the minimum angle each triangle should have.
double	getMinimumAngle ()
	Get the parameter for distance based weighting of neighbors.
void	setMaximumAngle (double maximum_angle)
	Set the maximum angle each triangle can have.
double	getMaximumAngle ()
	Get the parameter for distance based weighting of neighbors.
void	setMaximumSurfaceAngle (double eps_angle)
	Don't consider points for triangulation if their normal deviates more than this value from the query point's normal.
double	getMaximumSurfaceAngle ()
	Get the maximum surface angle.
void	setNormalConsistency (bool consistent)
	Set the flag for consistently oriented normals.
bool	getNormalConsistency ()
	Get the flag for consistently oriented normals.
std::vector< int >	getPointStates ()
	Get the state of each point after reconstruction.
std::vector< int >	getPartIDs ()
	Get the ID of each point after reconstruction.
std::vector< int >	getSFN ()
	Get the sfn list.
std::vector< int >	getFFN ()
	Get the sfn list.
void	updateMesh (const PointCloudInConstPtr &update, pcl::PolygonMesh &output)
	update mesh when new point cloud is added without recreating mesh.
void	updateMesh (const PointCloudInConstPtr &update, pcl::PolygonMesh &output, pcl::TextureMesh &tex_mesh)
	update texture mesh when new point cloud is added without recreating mesh.
void	merge2Meshes (pcl::PolygonMesh &mesh1, pcl::PolygonMesh &mesh2, std::vector< int > state2, std::vector< int > sfn2, std::vector< int > ffn2)
	remove the triangles from the 1st mesh that have neighbors in the 2nd mesh
void	removeOverlapTriangles (pcl::PolygonMesh &mesh1, pcl::PolygonMesh &mesh2)
	remove the triangles from the 1st mesh that have neighbors in the 2nd mesh
void	reconstruct (pcl::PolygonMesh &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointInT>
class pcl::GreedyProjectionTriangulation< PointInT >

GreedyProjectionTriangulation is an implementation of a greedy triangulation algorithm for 3D points based on local 2D projections.

It assumes locally smooth surfaces and relatively smooth transitions between areas with different point densities.

Author:: Zoltan Csaba Marton

Definition at line 146 of file gp3.h.

Member Typedef Documentation

template<typename PointInT >

typedef pcl::KdTree<PointInT> pcl::GreedyProjectionTriangulation< PointInT >::KdTree

Reimplemented from pcl::SurfaceReconstruction< PointInT >.

Definition at line 153 of file gp3.h.

template<typename PointInT >

typedef pcl::KdTree<PointInT>::Ptr pcl::GreedyProjectionTriangulation< PointInT >::KdTreePtr

Reimplemented from pcl::SurfaceReconstruction< PointInT >.

Definition at line 154 of file gp3.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Definition at line 76 of file pcl_base.h.

template<typename PointInT >

typedef pcl::PointCloud<PointInT> pcl::GreedyProjectionTriangulation< PointInT >::PointCloudIn

Definition at line 156 of file gp3.h.

template<typename PointInT >

typedef PointCloudIn::ConstPtr pcl::GreedyProjectionTriangulation< PointInT >::PointCloudInConstPtr

Definition at line 158 of file gp3.h.

template<typename PointInT >

typedef PointCloudIn::Ptr pcl::GreedyProjectionTriangulation< PointInT >::PointCloudInPtr

Definition at line 157 of file gp3.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]

Reimplemented in pcl::OrganizedFastMesh< PointInT >.

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

Member Enumeration Documentation

template<typename PointInT >

anonymous enum

Enumerator:

NONE
FREE
FRINGE
BOUNDARY
COMPLETED

Definition at line 162 of file gp3.h.

Constructor & Destructor Documentation

template<typename PointInT >

pcl::GreedyProjectionTriangulation< PointInT >::GreedyProjectionTriangulation ( ) [inline]

Empty constructor.

Definition at line 171 of file gp3.h.

Member Function Documentation

template<typename PointInT >

std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getFFN ( ) [inline]

Get the sfn list.

Definition at line 274 of file gp3.h.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

template<typename PointInT >

double pcl::GreedyProjectionTriangulation< PointInT >::getMaximumAngle ( ) [inline]

Get the parameter for distance based weighting of neighbors.

Definition at line 228 of file gp3.h.

template<typename PointInT >

int pcl::GreedyProjectionTriangulation< PointInT >::getMaximumNearestNeighbors ( ) [inline]

Get the maximum number of nearest neighbors to be searched for.

Definition at line 195 of file gp3.h.

template<typename PointInT >

double pcl::GreedyProjectionTriangulation< PointInT >::getMaximumSurfaceAngle ( ) [inline]

Get the maximum surface angle.

Definition at line 240 of file gp3.h.

template<typename PointInT >

double pcl::GreedyProjectionTriangulation< PointInT >::getMinimumAngle ( ) [inline]

Get the parameter for distance based weighting of neighbors.

Definition at line 217 of file gp3.h.

template<typename PointInT >

double pcl::GreedyProjectionTriangulation< PointInT >::getMu ( ) [inline]

Get the nearest neighbor distance multiplier.

Definition at line 185 of file gp3.h.

template<typename PointInT >

bool pcl::GreedyProjectionTriangulation< PointInT >::getNormalConsistency ( ) [inline]

Get the flag for consistently oriented normals.

Definition at line 250 of file gp3.h.

template<typename PointInT >

std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getPartIDs ( ) [inline]

Get the ID of each point after reconstruction.

Note:: parts are numbered from 0, a -1 denotes unconnected points

Definition at line 262 of file gp3.h.

template<typename PointInT >

std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getPointStates ( ) [inline]

Get the state of each point after reconstruction.

Note:: Options are defined as constants: FREE, FRINGE, COMPLETED, BOUNDARY and NONE

Definition at line 256 of file gp3.h.

template<typename PointInT>

KdTreePtr pcl::SurfaceReconstruction< PointInT >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 86 of file reconstruction.h.

template<typename PointInT >

double pcl::GreedyProjectionTriangulation< PointInT >::getSearchRadius ( ) [inline]

Get the sphere radius used for determining the k-nearest neighbors.

Definition at line 206 of file gp3.h.

template<typename PointInT >

std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getSFN ( ) [inline]

Get the sfn list.

Definition at line 269 of file gp3.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::merge2Meshes	(	pcl::PolygonMesh &	mesh1,
		pcl::PolygonMesh &	mesh2,
		std::vector< int >	state2,
		std::vector< int >	sfn2,
		std::vector< int >	ffn2
	)

remove the triangles from the 1st mesh that have neighbors in the 2nd mesh

Parameters:

polygonMesh 1st and 2nd mesh.

Definition at line 1749 of file gp3.hpp.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 178 of file pcl_base.h.

template<typename PointInT >

void pcl::SurfaceReconstruction< PointInT >::reconstruct ( pcl::PolygonMesh & output ) [inherited]

Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>

Parameters:

output the resultant reconstructed surface model

NOTE: passing in boost shared pointer with * as const& should be OK here

NOTE: usually the number of triangles is around twice the number of vertices

Definition at line 44 of file reconstruction.hpp.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::removeOverlapTriangles	(	pcl::PolygonMesh &	mesh1,
		pcl::PolygonMesh &	mesh2
	)

remove the triangles from the 1st mesh that have neighbors in the 2nd mesh

Parameters:

polygonMesh 1st and 2nd mesh.

Definition at line 1631 of file gp3.hpp.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::setMaximumAngle ( double maximum_angle ) [inline]

Set the maximum angle each triangle can have.

Parameters:

maximum_angle the maximum angle each triangle can have

Note:: For best results, its value should be around 120 degrees

Definition at line 224 of file gp3.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::setMaximumNearestNeighbors ( int nnn ) [inline]

Set the maximum number of nearest neighbors to be searched for.

Parameters:

nnn	the maximum number of nearest neighbors

Definition at line 191 of file gp3.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::setMaximumSurfaceAngle ( double eps_angle ) [inline]

Don't consider points for triangulation if their normal deviates more than this value from the query point's normal.

Parameters:

eps_angle maximum surface angle

Note:: As normal estimation methods usually give smooth transitions at sharp edges, this ensures correct triangulation by avoiding connecting points from one side to points from the other through forcing the use of the edge points.

Definition at line 236 of file gp3.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::setMinimumAngle ( double minimum_angle ) [inline]

Set the minimum angle each triangle should have.

Parameters:

minimum_angle the minimum angle each triangle should have

Note:: As this is a greedy approach, this will have to be violated from time to time

Definition at line 213 of file gp3.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::setMu ( double mu ) [inline]

Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point (this will make the algorithm adapt to different point densities in the cloud).

Parameters:

mu	the multiplier

Definition at line 181 of file gp3.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::setNormalConsistency ( bool consistent ) [inline]

Set the flag for consistently oriented normals.

Parameters:

consistent set it to true if the normals are consistently oriented

Definition at line 246 of file gp3.h.

template<typename PointInT>

void pcl::SurfaceReconstruction< PointInT >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide a pointer to the search object.

Parameters:

tree	a pointer to the spatial search object.

Definition at line 79 of file reconstruction.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::setSearchRadius ( double radius ) [inline]

Set the sphere radius that is to be used for determining the k-nearest neighbors used for triangulating.

Parameters:

radius the sphere radius that is to contain all k-nearest neighbors

Note:: This distance limits the maximum edge length!

Definition at line 202 of file gp3.h.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::updateMesh	(	const PointCloudInConstPtr &	update,
		pcl::PolygonMesh &	output,
		pcl::TextureMesh &	tex_mesh
	)

update texture mesh when new point cloud is added without recreating mesh.

Parameters:

point cloud update and update texture mesh output

Definition at line 3723 of file gp3.hpp.

template<typename PointInT >

void pcl::GreedyProjectionTriangulation< PointInT >::updateMesh	(	const PointCloudInConstPtr &	update,
		pcl::PolygonMesh &	output
	)

update mesh when new point cloud is added without recreating mesh.

Parameters:

point cloud update and update mesh output

Definition at line 2740 of file gp3.hpp.

The documentation for this class was generated from the following files:

/builddir/build/BUILD/PCL-1.3.1-Source/surface/include/pcl/surface/gp3.h
/builddir/build/BUILD/PCL-1.3.1-Source/surface/include/pcl/surface/impl/gp3.hpp

Classes

Public Types

Public Member Functions

Detailed Description

template<typename PointInT> class pcl::GreedyProjectionTriangulation< PointInT >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT>
class pcl::GreedyProjectionTriangulation< PointInT >