Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::Poisson< PointNT > Class Template Reference

The Poisson surface reconstruction algorithm. More...

#include <pcl/surface/poisson.h>

+ Inheritance diagram for pcl::Poisson< PointNT >:

Public Types

typedef boost::shared_ptr
< Poisson< PointNT > > 
Ptr
 
typedef boost::shared_ptr
< const Poisson< PointNT > > 
ConstPtr
 
typedef pcl::PointCloud
< PointNT >::Ptr 
PointCloudPtr
 
typedef pcl::KdTree< PointNT > KdTree
 
typedef pcl::KdTree< PointNT >::Ptr KdTreePtr
 
- Public Types inherited from pcl::SurfaceReconstruction< PointNT >
typedef boost::shared_ptr
< SurfaceReconstruction
< PointNT > > 
Ptr
 
typedef boost::shared_ptr
< const SurfaceReconstruction
< PointNT > > 
ConstPtr
 
- Public Types inherited from pcl::PCLSurfaceBase< PointNT >
typedef boost::shared_ptr
< PCLSurfaceBase< PointNT > > 
Ptr
 
typedef boost::shared_ptr
< const PCLSurfaceBase
< PointNT > > 
ConstPtr
 
typedef pcl::search::Search
< PointNT > 
KdTree
 
typedef pcl::search::Search
< PointNT >::Ptr 
KdTreePtr
 
- Public Types inherited from pcl::PCLBase< PointNT >
typedef pcl::PointCloud< PointNT > 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

 Poisson ()
 Constructor that sets all the parameters to working default values. More...
 
 ~Poisson ()
 Destructor. More...
 
void performReconstruction (pcl::PolygonMesh &output)
 Create the surface. More...
 
void performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
 Create the surface. More...
 
void setDepth (int depth)
 Set the maximum depth of the tree that will be used for surface reconstruction. More...
 
int getDepth ()
 Get the depth parameter. More...
 
void setMinDepth (int min_depth)
 
int getMinDepth ()
 
void setPointWeight (float point_weight)
 
float getPointWeight ()
 
void setScale (float scale)
 Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. More...
 
float getScale ()
 Get the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. More...
 
void setSolverDivide (int solver_divide)
 Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. More...
 
int getSolverDivide ()
 Get the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. More...
 
void setIsoDivide (int iso_divide)
 Set the depth at which a block iso-surface extractor should be used to extract the iso-surface. More...
 
int getIsoDivide ()
 Get the depth at which a block iso-surface extractor should be used to extract the iso-surface. More...
 
void setSamplesPerNode (float samples_per_node)
 Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. More...
 
float getSamplesPerNode ()
 Get the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. More...
 
void setConfidence (bool confidence)
 Set the confidence flag. More...
 
bool getConfidence ()
 Get the confidence flag. More...
 
void setOutputPolygons (bool output_polygons)
 Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes). More...
 
bool getOutputPolygons ()
 Get whether the algorithm outputs a polygon mesh or a triangle mesh. More...
 
void setDegree (int degree)
 Set the degree parameter. More...
 
int getDegree ()
 Get the degree parameter. More...
 
void setManifold (bool manifold)
 Set the manifold flag. More...
 
bool getManifold ()
 Get the manifold flag. More...
 
- Public Member Functions inherited from pcl::SurfaceReconstruction< PointNT >
 SurfaceReconstruction ()
 Constructor. More...
 
virtual ~SurfaceReconstruction ()
 Destructor. More...
 
virtual void reconstruct (pcl::PolygonMesh &output)
 Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
 
virtual void reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
 Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
 
- Public Member Functions inherited from pcl::PCLSurfaceBase< PointNT >
 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< PointNT >
 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 () const
 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...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointNT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

std::string getClassName () const
 Class get name method. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointNT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::SurfaceReconstruction< PointNT >
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< PointNT >
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointNT >
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 PointNT>
class pcl::Poisson< PointNT >

The Poisson surface reconstruction algorithm.

Note
Code adapted from Misha Kazhdan: http://www.cs.jhu.edu/~misha/Code/PoissonRecon/
Based on the paper:
  • Michael Kazhdan, Matthew Bolitho, Hugues Hoppe, "Poisson surface reconstruction", SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
Author
Alexandru-Eugen Ichim

Definition at line 60 of file poisson.h.

Member Typedef Documentation

template<typename PointNT >
typedef boost::shared_ptr<const Poisson<PointNT> > pcl::Poisson< PointNT >::ConstPtr

Definition at line 64 of file poisson.h.

template<typename PointNT >
typedef pcl::KdTree<PointNT> pcl::Poisson< PointNT >::KdTree

Definition at line 71 of file poisson.h.

template<typename PointNT >
typedef pcl::KdTree<PointNT>::Ptr pcl::Poisson< PointNT >::KdTreePtr

Definition at line 72 of file poisson.h.

template<typename PointNT >
typedef pcl::PointCloud<PointNT>::Ptr pcl::Poisson< PointNT >::PointCloudPtr

Definition at line 69 of file poisson.h.

template<typename PointNT >
typedef boost::shared_ptr<Poisson<PointNT> > pcl::Poisson< PointNT >::Ptr

Definition at line 63 of file poisson.h.

Constructor & Destructor Documentation

template<typename PointNT >
pcl::Poisson< PointNT >::Poisson ( )

Constructor that sets all the parameters to working default values.

Definition at line 64 of file poisson.hpp.

template<typename PointNT >
pcl::Poisson< PointNT >::~Poisson ( )

Destructor.

Definition at line 89 of file poisson.hpp.

Member Function Documentation

template<typename PointNT >
std::string pcl::Poisson< PointNT >::getClassName ( ) const
inlineprotectedvirtual

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 221 of file poisson.h.

template<typename PointNT >
bool pcl::Poisson< PointNT >::getConfidence ( )
inline

Get the confidence flag.

Definition at line 183 of file poisson.h.

template<typename PointNT >
int pcl::Poisson< PointNT >::getDegree ( )
inline

Get the degree parameter.

Definition at line 204 of file poisson.h.

template<typename PointNT >
int pcl::Poisson< PointNT >::getDepth ( )
inline

Get the depth parameter.

Definition at line 105 of file poisson.h.

template<typename PointNT >
int pcl::Poisson< PointNT >::getIsoDivide ( )
inline

Get the depth at which a block iso-surface extractor should be used to extract the iso-surface.

Definition at line 156 of file poisson.h.

template<typename PointNT >
bool pcl::Poisson< PointNT >::getManifold ( )
inline

Get the manifold flag.

Definition at line 216 of file poisson.h.

template<typename PointNT >
int pcl::Poisson< PointNT >::getMinDepth ( )
inline

Definition at line 111 of file poisson.h.

template<typename PointNT >
bool pcl::Poisson< PointNT >::getOutputPolygons ( )
inline

Get whether the algorithm outputs a polygon mesh or a triangle mesh.

Definition at line 194 of file poisson.h.

template<typename PointNT >
float pcl::Poisson< PointNT >::getPointWeight ( )
inline

Definition at line 117 of file poisson.h.

template<typename PointNT >
float pcl::Poisson< PointNT >::getSamplesPerNode ( )
inline

Get the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.

Definition at line 171 of file poisson.h.

template<typename PointNT >
float pcl::Poisson< PointNT >::getScale ( )
inline

Get the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.

Definition at line 130 of file poisson.h.

template<typename PointNT >
int pcl::Poisson< PointNT >::getSolverDivide ( )
inline

Get the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.

Definition at line 143 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::performReconstruction ( pcl::PolygonMesh output)
virtual
template<typename PointNT >
void pcl::Poisson< PointNT >::performReconstruction ( pcl::PointCloud< PointNT > &  points,
std::vector< pcl::Vertices > &  polygons 
)
virtual
template<typename PointNT >
void pcl::Poisson< PointNT >::setConfidence ( bool  confidence)
inline

Set the confidence flag.

Note
Enabling this flag tells the reconstructor to use the size of the normals as confidence information. When the flag is not enabled, all normals are normalized to have unit-length prior to reconstruction.
Parameters
[in]confidencethe given flag

Definition at line 179 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setDegree ( int  degree)
inline

Set the degree parameter.

Parameters
[in]degreethe given degree

Definition at line 200 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setDepth ( int  depth)
inline

Set the maximum depth of the tree that will be used for surface reconstruction.

Note
Running at depth d corresponds to solving on a voxel grid whose resolution is no larger than 2^d x 2^d x 2^d. Note that since the reconstructor adapts the octree to the sampling density, the specified reconstruction depth is only an upper bound.
Parameters
[in]depththe depth parameter

Definition at line 101 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setIsoDivide ( int  iso_divide)
inline

Set the depth at which a block iso-surface extractor should be used to extract the iso-surface.

Note
Using this parameter helps reduce the memory overhead at the cost of a small increase in extraction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)
Parameters
[in]iso_dividethe given parameter value

Definition at line 152 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setManifold ( bool  manifold)
inline

Set the manifold flag.

Note
Enabling this flag tells the reconstructor to add the polygon barycenter when triangulating polygons with more than three vertices.
Parameters
[in]manifoldthe given flag

Definition at line 212 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setMinDepth ( int  min_depth)
inline

Definition at line 108 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setOutputPolygons ( bool  output_polygons)
inline

Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes).

Parameters
[in]output_polygonsthe given flag

Definition at line 190 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setPointWeight ( float  point_weight)
inline

Definition at line 114 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setSamplesPerNode ( float  samples_per_node)
inline

Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.

Note
For noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples, larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.
Parameters
[in]samples_per_nodethe given parameter value

Definition at line 165 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setScale ( float  scale)
inline

Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.

Parameters
[in]scalethe given parameter value

Definition at line 124 of file poisson.h.

template<typename PointNT >
void pcl::Poisson< PointNT >::setSolverDivide ( int  solver_divide)
inline

Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.

Note
Using this parameter helps reduce the memory overhead at the cost of a small increase in reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)
Parameters
[in]solver_dividethe given parameter value

Definition at line 139 of file poisson.h.


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