Point Cloud Library (PCL)  1.7.1
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::OrganizedFastMesh< PointInT > Class Template Reference

Simple triangulation/surface reconstruction for organized point clouds. More...

#include <pcl/surface/organized_fast_mesh.h>

+ Inheritance diagram for pcl::OrganizedFastMesh< PointInT >:

Public Types

enum  TriangulationType { TRIANGLE_RIGHT_CUT, TRIANGLE_LEFT_CUT, TRIANGLE_ADAPTIVE_CUT, QUAD_MESH }
 
typedef boost::shared_ptr
< OrganizedFastMesh< PointInT > > 
Ptr
 
typedef boost::shared_ptr
< const OrganizedFastMesh
< PointInT > > 
ConstPtr
 
typedef pcl::PointCloud
< PointInT >::Ptr 
PointCloudPtr
 
typedef std::vector
< pcl::Vertices
Polygons
 
- Public Types inherited from pcl::MeshConstruction< PointInT >
typedef boost::shared_ptr
< MeshConstruction< PointInT > > 
Ptr
 
typedef boost::shared_ptr
< const MeshConstruction
< PointInT > > 
ConstPtr
 
- Public Types inherited from pcl::PCLSurfaceBase< PointInT >
typedef boost::shared_ptr
< PCLSurfaceBase< PointInT > > 
Ptr
 
typedef boost::shared_ptr
< const PCLSurfaceBase
< PointInT > > 
ConstPtr
 
typedef pcl::search::Search
< PointInT > 
KdTree
 
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 OrganizedFastMesh ()
 Constructor. More...
 
virtual ~OrganizedFastMesh ()
 Destructor. More...
 
void setMaxEdgeLength (float max_edge_length)
 Set a maximum edge length. More...
 
void setTrianglePixelSize (int triangle_size)
 Set the edge length (in pixels) used for constructing the fixed mesh. More...
 
void setTriangulationType (TriangulationType type)
 Set the triangulation type (see TriangulationType) More...
 
void storeShadowedFaces (bool enable)
 Store shadowed faces or not. More...
 
- Public Member Functions inherited from pcl::MeshConstruction< PointInT >
 MeshConstruction ()
 Constructor. More...
 
virtual ~MeshConstruction ()
 Destructor. More...
 
virtual void reconstruct (pcl::PolygonMesh &output)
 Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
 
virtual void reconstruct (std::vector< pcl::Vertices > &polygons)
 Base method for mesh construction for all points given in <setInputCloud (), setIndices ()> More...
 
- Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
 PCLSurfaceBase ()
 Empty constructor. More...
 
virtual ~PCLSurfaceBase ()
 Empty destructor. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide an optional pointer to a search object. More...
 
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual 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. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos)
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void reconstructPolygons (std::vector< pcl::Vertices > &polygons)
 Perform the actual polygonal reconstruction. More...
 
virtual void performReconstruction (std::vector< pcl::Vertices > &polygons)
 Create the surface. More...
 
void performReconstruction (pcl::PolygonMesh &output)
 Create the surface. More...
 
void addTriangle (int a, int b, int c, int idx, std::vector< pcl::Vertices > &polygons)
 Add a new triangle to the current polygon mesh. More...
 
void addQuad (int a, int b, int c, int d, int idx, std::vector< pcl::Vertices > &polygons)
 Add a new quad to the current polygon mesh. More...
 
void resetPointData (const int &point_index, pcl::PolygonMesh &mesh, const float &value=0.0f, int field_x_idx=0, int field_y_idx=1, int field_z_idx=2)
 Set (all) coordinates of a particular point to the specified value. More...
 
bool isShadowed (const PointInT &point_a, const PointInT &point_b)
 Check if a point is shadowed by another point. More...
 
bool isValidTriangle (const int &a, const int &b, const int &c)
 Check if a triangle is valid. More...
 
bool isShadowedTriangle (const int &a, const int &b, const int &c)
 Check if a triangle is shadowed. More...
 
bool isValidQuad (const int &a, const int &b, const int &c, const int &d)
 Check if a quad is valid. More...
 
bool isShadowedQuad (const int &a, const int &b, const int &c, const int &d)
 Check if a triangle is shadowed. More...
 
void makeQuadMesh (std::vector< pcl::Vertices > &polygons)
 Create a quad mesh. More...
 
void makeRightCutMesh (std::vector< pcl::Vertices > &polygons)
 Create a right cut mesh. More...
 
void makeLeftCutMesh (std::vector< pcl::Vertices > &polygons)
 Create a left cut mesh. More...
 
void makeAdaptiveCutMesh (std::vector< pcl::Vertices > &polygons)
 Create an adaptive cut mesh. More...
 

Protected Attributes

float max_edge_length_squared_
 max (squared) length of edge More...
 
int triangle_pixel_size_
 size of triangle endges (in pixels) More...
 
TriangulationType triangulation_type_
 Type of meshin scheme (quads vs. More...
 
bool store_shadowed_faces_
 Whether or not shadowed faces are stored, e.g., for exploration. More...
 
float cos_angle_tolerance_
 
- Protected Attributes inherited from pcl::MeshConstruction< PointInT >
bool check_tree_
 A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More...
 
- Protected Attributes inherited from pcl::PCLSurfaceBase< PointInT >
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

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

Simple triangulation/surface reconstruction for organized point clouds.

Neighboring points (pixels in image space) are connected to construct a triangular mesh.

Note
If you use this code in any academic work, please cite: D. Holz and S. Behnke. Fast Range Image Segmentation and Smoothing using Approximate Surface Reconstruction and Region Growing. In Proceedings of the 12th International Conference on Intelligent Autonomous Systems (IAS), Jeju Island, Korea, June 26-29 2012. http://purl.org/holz/papers/holz_2012_ias.pdf
Author
Dirk Holz, Radu B. Rusu

Definition at line 65 of file organized_fast_mesh.h.

Member Typedef Documentation

template<typename PointInT >
typedef boost::shared_ptr<const OrganizedFastMesh<PointInT> > pcl::OrganizedFastMesh< PointInT >::ConstPtr

Definition at line 69 of file organized_fast_mesh.h.

template<typename PointInT >
typedef pcl::PointCloud<PointInT>::Ptr pcl::OrganizedFastMesh< PointInT >::PointCloudPtr

Definition at line 74 of file organized_fast_mesh.h.

template<typename PointInT >
typedef std::vector<pcl::Vertices> pcl::OrganizedFastMesh< PointInT >::Polygons

Definition at line 76 of file organized_fast_mesh.h.

template<typename PointInT >
typedef boost::shared_ptr<OrganizedFastMesh<PointInT> > pcl::OrganizedFastMesh< PointInT >::Ptr

Definition at line 68 of file organized_fast_mesh.h.

Member Enumeration Documentation

template<typename PointInT >
enum pcl::OrganizedFastMesh::TriangulationType
Enumerator
TRIANGLE_RIGHT_CUT 
TRIANGLE_LEFT_CUT 
TRIANGLE_ADAPTIVE_CUT 
QUAD_MESH 

Definition at line 78 of file organized_fast_mesh.h.

Constructor & Destructor Documentation

template<typename PointInT >
pcl::OrganizedFastMesh< PointInT >::OrganizedFastMesh ( )
inline

Constructor.

Triangulation type defaults to QUAD_MESH.

Definition at line 87 of file organized_fast_mesh.h.

References pcl::MeshConstruction< PointInT >::check_tree_.

template<typename PointInT >
virtual pcl::OrganizedFastMesh< PointInT >::~OrganizedFastMesh ( )
inlinevirtual

Destructor.

Definition at line 98 of file organized_fast_mesh.h.

Member Function Documentation

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::addQuad ( int  a,
int  b,
int  c,
int  d,
int  idx,
std::vector< pcl::Vertices > &  polygons 
)
inlineprotected

Add a new quad to the current polygon mesh.

Parameters
[in]aindex of the first vertex
[in]bindex of the second vertex
[in]cindex of the third vertex
[in]dindex of the fourth vertex
[in]idxthe index in the set of polygon vertices (assumes idx is valid in polygons)
[out]polygonsthe polygon mesh to be updated

Definition at line 201 of file organized_fast_mesh.h.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::addTriangle ( int  a,
int  b,
int  c,
int  idx,
std::vector< pcl::Vertices > &  polygons 
)
inlineprotected

Add a new triangle to the current polygon mesh.

Parameters
[in]aindex of the first vertex
[in]bindex of the second vertex
[in]cindex of the third vertex
[in]idxthe index in the set of polygon vertices (assumes idx is valid in polygons)
[out]polygonsthe polygon mesh to be updated

Definition at line 183 of file organized_fast_mesh.h.

template<typename PointInT >
bool pcl::OrganizedFastMesh< PointInT >::isShadowed ( const PointInT &  point_a,
const PointInT &  point_b 
)
inlineprotected

Check if a point is shadowed by another point.

Parameters
[in]point_athe first point
[in]point_bthe second point

Definition at line 234 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::cos_angle_tolerance_.

Referenced by pcl::OrganizedFastMesh< PointInT >::isShadowedQuad(), and pcl::OrganizedFastMesh< PointInT >::isShadowedTriangle().

template<typename PointInT >
bool pcl::OrganizedFastMesh< PointInT >::isShadowedQuad ( const int &  a,
const int &  b,
const int &  c,
const int &  d 
)
inlineprotected

Check if a triangle is shadowed.

Parameters
[in]aindex of the first vertex
[in]bindex of the second vertex
[in]cindex of the third vertex
[in]dindex of the fourth vertex

Definition at line 299 of file organized_fast_mesh.h.

References pcl::PCLBase< PointInT >::input_, and pcl::OrganizedFastMesh< PointInT >::isShadowed().

template<typename PointInT >
bool pcl::OrganizedFastMesh< PointInT >::isShadowedTriangle ( const int &  a,
const int &  b,
const int &  c 
)
inlineprotected

Check if a triangle is shadowed.

Parameters
[in]aindex of the first vertex
[in]bindex of the second vertex
[in]cindex of the third vertex

Definition at line 268 of file organized_fast_mesh.h.

References pcl::PCLBase< PointInT >::input_, and pcl::OrganizedFastMesh< PointInT >::isShadowed().

template<typename PointInT >
bool pcl::OrganizedFastMesh< PointInT >::isValidQuad ( const int &  a,
const int &  b,
const int &  c,
const int &  d 
)
inlineprotected

Check if a quad is valid.

Parameters
[in]aindex of the first vertex
[in]bindex of the second vertex
[in]cindex of the third vertex
[in]dindex of the fourth vertex

Definition at line 283 of file organized_fast_mesh.h.

References pcl::PCLBase< PointInT >::input_, and pcl::isFinite().

template<typename PointInT >
bool pcl::OrganizedFastMesh< PointInT >::isValidTriangle ( const int &  a,
const int &  b,
const int &  c 
)
inlineprotected

Check if a triangle is valid.

Parameters
[in]aindex of the first vertex
[in]bindex of the second vertex
[in]cindex of the third vertex

Definition at line 254 of file organized_fast_mesh.h.

References pcl::PCLBase< PointInT >::input_, and pcl::isFinite().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh ( std::vector< pcl::Vertices > &  polygons)
protected

Create an adaptive cut mesh.

Parameters
[out]polygonsthe resultant mesh

Definition at line 209 of file organized_fast_mesh.hpp.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh ( std::vector< pcl::Vertices > &  polygons)
protected

Create a left cut mesh.

Parameters
[out]polygonsthe resultant mesh

Definition at line 168 of file organized_fast_mesh.hpp.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::makeQuadMesh ( std::vector< pcl::Vertices > &  polygons)
protected

Create a quad mesh.

Parameters
[out]polygonsthe resultant mesh

Definition at line 90 of file organized_fast_mesh.hpp.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh ( std::vector< pcl::Vertices > &  polygons)
protected

Create a right cut mesh.

Parameters
[out]polygonsthe resultant mesh

Definition at line 127 of file organized_fast_mesh.hpp.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::performReconstruction ( std::vector< pcl::Vertices > &  polygons)
protectedvirtual

Create the surface.

Parameters
[out]polygonsthe resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.

Implements pcl::MeshConstruction< PointInT >.

Definition at line 69 of file organized_fast_mesh.hpp.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::performReconstruction ( pcl::PolygonMesh output)
protectedvirtual

Create the surface.

Simply uses image indices to create an initial polygonal mesh for organized point clouds. indices_ are ignored!

Parameters
[out]outputthe resultant polygonal mesh

Implements pcl::MeshConstruction< PointInT >.

Definition at line 48 of file organized_fast_mesh.hpp.

References pcl::PolygonMesh::cloud, pcl::getFieldIndex(), pcl::isFinite(), and pcl::PolygonMesh::polygons.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::reconstructPolygons ( std::vector< pcl::Vertices > &  polygons)
protected

Perform the actual polygonal reconstruction.

Parameters
[out]polygonsthe resultant polygons

Definition at line 76 of file organized_fast_mesh.hpp.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::resetPointData ( const int &  point_index,
pcl::PolygonMesh mesh,
const float &  value = 0.0f,
int  field_x_idx = 0,
int  field_y_idx = 1,
int  field_z_idx = 2 
)
inlineprotected

Set (all) coordinates of a particular point to the specified value.

Parameters
[in]point_indexindex of point
[out]meshto modify
[in]valuevalue to use when re-setting
[in]field_x_idxthe X coordinate of the point
[in]field_y_idxthe Y coordinate of the point
[in]field_z_idxthe Z coordinate of the point

Definition at line 220 of file organized_fast_mesh.h.

References pcl::PolygonMesh::cloud, pcl::PCLPointCloud2::data, pcl::PCLPointCloud2::fields, and pcl::PCLPointCloud2::point_step.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::setMaxEdgeLength ( float  max_edge_length)
inline

Set a maximum edge length.

TODO: Implement!

Parameters
[in]max_edge_lengththe maximum edge length

Definition at line 104 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::max_edge_length_squared_.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSize ( int  triangle_size)
inline

Set the edge length (in pixels) used for constructing the fixed mesh.

Parameters
[in]triangle_sizeedge length in pixels (Default: 1 = neighboring pixels are connected)

Definition at line 114 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::setTriangulationType ( TriangulationType  type)
inline

Set the triangulation type (see TriangulationType)

Parameters
[in]typequad mesh, triangle mesh with fixed left, right cut, or adaptive cut (splits a quad wrt. the depth (z) of the points)

Definition at line 124 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::triangulation_type_.

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::storeShadowedFaces ( bool  enable)
inline

Store shadowed faces or not.

Parameters
[in]enableset to true to store shadowed faces

Definition at line 133 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::store_shadowed_faces_.

Member Data Documentation

template<typename PointInT >
float pcl::OrganizedFastMesh< PointInT >::cos_angle_tolerance_
protected
template<typename PointInT >
float pcl::OrganizedFastMesh< PointInT >::max_edge_length_squared_
protected

max (squared) length of edge

Definition at line 140 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::setMaxEdgeLength().

template<typename PointInT >
bool pcl::OrganizedFastMesh< PointInT >::store_shadowed_faces_
protected

Whether or not shadowed faces are stored, e.g., for exploration.

Definition at line 149 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::storeShadowedFaces().

template<typename PointInT >
int pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_
protected

size of triangle endges (in pixels)

Definition at line 143 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSize().

template<typename PointInT >
TriangulationType pcl::OrganizedFastMesh< PointInT >::triangulation_type_
protected

Type of meshin scheme (quads vs.

triangles, left cut vs. right cut ...

Definition at line 146 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::setTriangulationType().


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