Template Class AdaptiveKSearchSurface

Inheritance Relationships

Base Type

Class Documentation

template<typename BaseVecT>
class AdaptiveKSearchSurface : public lvr2::PointsetSurface<BaseVecT>

A point cloud manager class that uses a search tree for nearest neighbor searches.

Public Types

using Base = PointsetSurface<BaseVecT>

Public Functions

AdaptiveKSearchSurface(PointBufferPtr loader, std::string searchTreeName, int kn = 10, int ki = 10, int kd = 10, int calcMethod = 0, string poseFile = "")

Constructor.

Parameters:

  • The – file to read from

  • searchTN – The of the searchTree type that shall be used

  • kn – The number of neighbor points used for normal estimation

  • ki – The number of neighbor points used for normal interpolation

  • kd – The number of neighbor points used for distance value calculation

  • calcMethod – Normal calculation method. 0: PCA(default), 1: RANSAC, 2: Iterative

AdaptiveKSearchSurface() = delete

standard Constructor 

 m_useRANSAC = true;
 m_ki = 10;
 m_kn = 10;
 m_kd = 10;

 This Constructor can be used, if only the method "calcPlaneRANSACfromPoints"
 is required
inline virtual ~AdaptiveKSearchSurface()

Destructor.

virtual pair<typename BaseVecT::CoordType, typename BaseVecT::CoordType> distance(BaseVecT v) const

See interface documentation.

virtual void calculateSurfaceNormals()

Calculates initial point normals using a least squares fit to the m_kn nearest points.

void interpolateSurfaceNormals()

Interpolate the initial normals with the m_ki neighbors.

Protected Attributes

const Channel<float> &m_points