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. More...
#include <gp3.h>
Inheritance diagram for pcl::GreedyProjectionTriangulation< PointInT >:
Classes | |
| struct | doubleEdge |
| Struct for storing the edges starting from a fringe point. More... | |
| struct | nnAngle |
| Struct for storing the angles to nearest neighbors. More... | |
Public Types | |
| typedef boost::shared_ptr < const GreedyProjectionTriangulation < PointInT > > | ConstPtr |
| enum | GP3Type { 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::ConstPtr | PointCloudInConstPtr |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef boost::shared_ptr < GreedyProjectionTriangulation < PointInT > > | Ptr |
Public Member Functions | |
| bool | getConsistentVertexOrdering () const |
| Get the flag signaling consistently ordered triangle vertices. | |
| std::vector< int > | getFFN () const |
| Get the ffn list. | |
| double | getMaximumAngle () const |
| Get the parameter for distance based weighting of neighbors. | |
| int | getMaximumNearestNeighbors () const |
| Get the maximum number of nearest neighbors to be searched for. | |
| double | getMaximumSurfaceAngle () const |
| Get the maximum surface angle. | |
| double | getMinimumAngle () const |
| Get the parameter for distance based weighting of neighbors. | |
| double | getMu () const |
| Get the nearest neighbor distance multiplier. | |
| bool | getNormalConsistency () const |
| Get the flag for consistently oriented normals. | |
| std::vector< int > | getPartIDs () const |
| Get the ID of each point after reconstruction. | |
| std::vector< int > | getPointStates () const |
| Get the state of each point after reconstruction. | |
| double | getSearchRadius () const |
| Get the sphere radius used for determining the k-nearest neighbors. | |
| std::vector< int > | getSFN () const |
| Get the sfn list. | |
| GreedyProjectionTriangulation () | |
| Empty constructor. | |
| void | setConsistentVertexOrdering (bool consistent_ordering) |
| Set the flag to order the resulting triangle vertices consistently (positive direction around normal). | |
| void | setMaximumAngle (double maximum_angle) |
| Set the maximum angle each triangle can have. | |
| void | setMaximumNearestNeighbors (int nnn) |
| Set the maximum number of nearest neighbors to be searched for. | |
| 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. | |
| void | setMinimumAngle (double minimum_angle) |
| Set the minimum angle each triangle should have. | |
| 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). | |
| void | setNormalConsistency (bool consistent) |
| Set the flag if the input normals are oriented consistently. | |
| void | setSearchRadius (double radius) |
| Set the sphere radius that is to be used for determining the k-nearest neighbors used for triangulating. | |
Protected Attributes | |
| bool | consistent_ |
| Set this to true if the normals of the input are consistently oriented. | |
| bool | consistent_ordering_ |
| Set this to true if the output triangle vertices should be consistently oriented. | |
| double | eps_angle_ |
| Maximum surface angle. | |
| double | maximum_angle_ |
| The maximum angle for the triangles. | |
| double | minimum_angle_ |
| The preferred minimum angle for the triangles. | |
| double | mu_ |
| The nearest neighbor distance multiplier to obtain the final search radius. | |
| int | nnn_ |
| The maximum number of nearest neighbors accepted by searching. | |
| double | search_radius_ |
| The nearest neighbors search radius for each point and the maximum edge length. | |
Private Member Functions | |
| void | addFringePoint (int v, int s) |
| Add a new vertex to the advancing edge front and set its source point. | |
| void | addTriangle (int a, int b, int c, std::vector< pcl::Vertices > &polygons) |
| Add a new triangle to the current polygon mesh. | |
| void | closeTriangle (std::vector< pcl::Vertices > &polygons) |
| Whenever a query point is part of a boundary loop containing 3 points, that triangle is created (called if angle constraints make it possible) | |
| void | connectPoint (std::vector< pcl::Vertices > &polygons, const int prev_index, const int next_index, const int next_next_index, const Eigen::Vector2f &uvn_current, const Eigen::Vector2f &uvn_prev, const Eigen::Vector2f &uvn_next) |
| Forms a new triangle by connecting the current neighbor to the query point and the previous neighbor. | |
| std::string | getClassName () const |
| Class get name method. | |
| std::vector< std::vector < size_t > > | getTriangleList (const pcl::PolygonMesh &input) |
| Get the list of containing triangles for each vertex in a PolygonMesh. | |
| void | performReconstruction (pcl::PolygonMesh &output) |
| The actual surface reconstruction method. | |
| void | performReconstruction (std::vector< pcl::Vertices > &polygons) |
| The actual surface reconstruction method. | |
| bool | reconstructPolygons (std::vector< pcl::Vertices > &polygons) |
| The actual surface reconstruction method. | |
Static Private Member Functions | |
| static bool | nnAngleSortAsc (const nnAngle &a1, const nnAngle &a2) |
| Function for ascending sort of nnAngle, taking visibility into account (angles to visible neighbors will be first, to the invisible ones after). | |
Private Attributes | |
| bool | already_connected_ |
| Flag to set if the next neighbor was already connected in the previous step. To avoid inconsistency it should not be connected again. | |
| std::vector< nnAngle > | angles_ |
| A list of angles to neighbors. | |
| bool | changed_1st_fn_ |
| Flag to set if the first fringe neighbor was changed. | |
| bool | changed_2nd_fn_ |
| Flag to set if the second fringe neighbor was changed. | |
| std::vector< Eigen::Vector3f > | coords_ |
| Temporary variable to store point coordinates. | |
| int | current_index_ |
| Current point's index. | |
| std::vector< int > | ffn_ |
| List of fringe neighbors in one direction. | |
| std::vector< int > | fringe_queue_ |
| Points on the outer edge from which the mesh has to be grown. | |
| bool | is_current_free_ |
| Flag to set if the current point is free. | |
| int | new2boundary_ |
| New boundary point. | |
| bool | next_is_ffn_ |
| Flag to set if the next point is the first fringe neighbor. | |
| bool | next_is_sfn_ |
| Flag to set if the next point is the second fringe neighbor. | |
| std::vector< int > | part_ |
| Connected component labels for each point. | |
| bool | prev_is_ffn_ |
| Flag to set if the previous point is the first fringe neighbor. | |
| bool | prev_is_sfn_ |
| Flag to set if the next point is the second fringe neighbor. | |
| Eigen::Vector3f | proj_qp_ |
| Point coordinates projected onto the plane defined by the point normal. | |
| int | R_ |
| Index of the current query point. | |
| std::vector< int > | sfn_ |
| List of fringe neighbors in other direction. | |
| std::vector< int > | source_ |
| List of sources. | |
| std::vector< int > | state_ |
| List of point states. | |
| Eigen::Vector3f | tmp_ |
| Temporary variable to store 3 coordiantes. | |
| pcl::Vertices | triangle_ |
| Temporary variable to store a triangle (as a set of point indices) | |
| Eigen::Vector3f | u_ |
| First coordinate vector of the 2D coordinate frame. | |
| Eigen::Vector2f | uvn_ffn_ |
| 2D coordinates of the first fringe neighbor | |
| Eigen::Vector2f | uvn_next_ffn_ |
| 2D coordinates of the first fringe neighbor of the next point | |
| Eigen::Vector2f | uvn_next_sfn_ |
| 2D coordinates of the second fringe neighbor of the next point | |
| Eigen::Vector2f | uvn_sfn_ |
| 2D coordinates of the second fringe neighbor | |
| Eigen::Vector3f | v_ |
| Second coordinate vector of the 2D coordinate frame. | |
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.
Member Typedef Documentation
template<typename PointInT>
| typedef boost::shared_ptr<const GreedyProjectionTriangulation<PointInT> > pcl::GreedyProjectionTriangulation< PointInT >::ConstPtr |
Reimplemented from pcl::MeshConstruction< PointInT >.
template<typename PointInT>
| typedef pcl::KdTree<PointInT> pcl::GreedyProjectionTriangulation< PointInT >::KdTree |
Reimplemented from pcl::PCLSurfaceBase< PointInT >.
template<typename PointInT>
| typedef pcl::KdTree<PointInT>::Ptr pcl::GreedyProjectionTriangulation< PointInT >::KdTreePtr |
Reimplemented from pcl::PCLSurfaceBase< PointInT >.
template<typename PointInT>
| typedef pcl::PointCloud<PointInT> pcl::GreedyProjectionTriangulation< PointInT >::PointCloudIn |
template<typename PointInT>
| typedef PointCloudIn::ConstPtr pcl::GreedyProjectionTriangulation< PointInT >::PointCloudInConstPtr |
template<typename PointInT>
| typedef PointCloudIn::Ptr pcl::GreedyProjectionTriangulation< PointInT >::PointCloudInPtr |
template<typename PointInT>
| typedef boost::shared_ptr<GreedyProjectionTriangulation<PointInT> > pcl::GreedyProjectionTriangulation< PointInT >::Ptr |
Reimplemented from pcl::MeshConstruction< PointInT >.
Member Enumeration Documentation
template<typename PointInT>
| enum pcl::GreedyProjectionTriangulation::GP3Type |
Constructor & Destructor Documentation
template<typename PointInT>
| pcl::GreedyProjectionTriangulation< PointInT >::GreedyProjectionTriangulation | ( | ) | [inline] |
Member Function Documentation
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::addFringePoint | ( | int | v, |
| int | s | ||
| ) | [inline, private] |
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::addTriangle | ( | int | a, |
| int | b, | ||
| int | c, | ||
| std::vector< pcl::Vertices > & | polygons | ||
| ) | [inline, private] |
template<typename PointInT >
| void pcl::GreedyProjectionTriangulation< PointInT >::closeTriangle | ( | std::vector< pcl::Vertices > & | polygons | ) | [private] |
template<typename PointInT >
| void pcl::GreedyProjectionTriangulation< PointInT >::connectPoint | ( | std::vector< pcl::Vertices > & | polygons, |
| const int | prev_index, | ||
| const int | next_index, | ||
| const int | next_next_index, | ||
| const Eigen::Vector2f & | uvn_current, | ||
| const Eigen::Vector2f & | uvn_prev, | ||
| const Eigen::Vector2f & | uvn_next | ||
| ) | [private] |
Forms a new triangle by connecting the current neighbor to the query point and the previous neighbor.
- Parameters:
-
[out] polygons the polygon mesh to be updated [in] prev_index index of the previous point [in] next_index index of the next point [in] next_next_index index of the point after the next one [in] uvn_current 2D coordinate of the current point [in] uvn_prev 2D coordinates of the previous point [in] uvn_next 2D coordinates of the next point
template<typename PointInT>
| std::string pcl::GreedyProjectionTriangulation< PointInT >::getClassName | ( | ) | const [inline, private, virtual] |
Class get name method.
Reimplemented from pcl::PCLSurfaceBase< PointInT >.
template<typename PointInT>
| bool pcl::GreedyProjectionTriangulation< PointInT >::getConsistentVertexOrdering | ( | ) | const [inline] |
template<typename PointInT>
| std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getFFN | ( | ) | const [inline] |
template<typename PointInT>
| double pcl::GreedyProjectionTriangulation< PointInT >::getMaximumAngle | ( | ) | const [inline] |
template<typename PointInT>
| int pcl::GreedyProjectionTriangulation< PointInT >::getMaximumNearestNeighbors | ( | ) | const [inline] |
template<typename PointInT>
| double pcl::GreedyProjectionTriangulation< PointInT >::getMaximumSurfaceAngle | ( | ) | const [inline] |
template<typename PointInT>
| double pcl::GreedyProjectionTriangulation< PointInT >::getMinimumAngle | ( | ) | const [inline] |
template<typename PointInT>
| double pcl::GreedyProjectionTriangulation< PointInT >::getMu | ( | ) | const [inline] |
template<typename PointInT>
| bool pcl::GreedyProjectionTriangulation< PointInT >::getNormalConsistency | ( | ) | const [inline] |
template<typename PointInT>
| std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getPartIDs | ( | ) | const [inline] |
template<typename PointInT>
| std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getPointStates | ( | ) | const [inline] |
template<typename PointInT>
| double pcl::GreedyProjectionTriangulation< PointInT >::getSearchRadius | ( | ) | const [inline] |
template<typename PointInT>
| std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getSFN | ( | ) | const [inline] |
template<typename PointInT >
| std::vector< std::vector< size_t > > pcl::GreedyProjectionTriangulation< PointInT >::getTriangleList | ( | const pcl::PolygonMesh & | input | ) | [private] |
Get the list of containing triangles for each vertex in a PolygonMesh.
- Parameters:
-
[in] polygonMesh the input polygon mesh
template<typename PointInT>
| static bool pcl::GreedyProjectionTriangulation< PointInT >::nnAngleSortAsc | ( | const nnAngle & | a1, |
| const nnAngle & | a2 | ||
| ) | [inline, static, private] |
template<typename PointInT >
| void pcl::GreedyProjectionTriangulation< PointInT >::performReconstruction | ( | pcl::PolygonMesh & | output | ) | [private, virtual] |
The actual surface reconstruction method.
- Parameters:
-
[out] output the resultant polygonal mesh
NOTE: usually the number of triangles is around twice the number of vertices
Implements pcl::MeshConstruction< PointInT >.
template<typename PointInT >
| void pcl::GreedyProjectionTriangulation< PointInT >::performReconstruction | ( | std::vector< pcl::Vertices > & | polygons | ) | [private, virtual] |
The actual surface reconstruction method.
- Parameters:
-
[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
NOTE: usually the number of triangles is around twice the number of vertices
Implements pcl::MeshConstruction< PointInT >.
template<typename PointInT >
| bool pcl::GreedyProjectionTriangulation< PointInT >::reconstructPolygons | ( | std::vector< pcl::Vertices > & | polygons | ) | [private] |
The actual surface reconstruction method.
- Parameters:
-
[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
NOTE: discarding NaN points and those that are not in indices_
NOTE: discarding NaN points and those that are not in indices_
NOTE: nnIdx was reset
TODO: document!
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::setConsistentVertexOrdering | ( | bool | consistent_ordering | ) | [inline] |
Set the flag to order the resulting triangle vertices consistently (positive direction around normal).
- Note:
- Assumes consistently oriented normals (towards the viewpoint) -- see setNormalConsistency ()
- Parameters:
-
[in] consistent_ordering set it to true if triangle vertices should be ordered consistently
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::setMaximumAngle | ( | double | maximum_angle | ) | [inline] |
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::setMaximumNearestNeighbors | ( | int | nnn | ) | [inline] |
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:
-
[in] 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.
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::setMinimumAngle | ( | double | minimum_angle | ) | [inline] |
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::setMu | ( | double | mu | ) | [inline] |
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::setNormalConsistency | ( | bool | consistent | ) | [inline] |
template<typename PointInT>
| void pcl::GreedyProjectionTriangulation< PointInT >::setSearchRadius | ( | double | radius | ) | [inline] |
Member Data Documentation
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::already_connected_ [private] |
template<typename PointInT>
std::vector<nnAngle> pcl::GreedyProjectionTriangulation< PointInT >::angles_ [private] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::changed_1st_fn_ [private] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::changed_2nd_fn_ [private] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::consistent_ [protected] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::consistent_ordering_ [protected] |
template<typename PointInT>
std::vector<Eigen::Vector3f> pcl::GreedyProjectionTriangulation< PointInT >::coords_ [private] |
template<typename PointInT>
int pcl::GreedyProjectionTriangulation< PointInT >::current_index_ [private] |
template<typename PointInT>
double pcl::GreedyProjectionTriangulation< PointInT >::eps_angle_ [protected] |
template<typename PointInT>
std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::ffn_ [private] |
template<typename PointInT>
std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::fringe_queue_ [private] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::is_current_free_ [private] |
template<typename PointInT>
double pcl::GreedyProjectionTriangulation< PointInT >::maximum_angle_ [protected] |
template<typename PointInT>
double pcl::GreedyProjectionTriangulation< PointInT >::minimum_angle_ [protected] |
template<typename PointInT>
double pcl::GreedyProjectionTriangulation< PointInT >::mu_ [protected] |
template<typename PointInT>
int pcl::GreedyProjectionTriangulation< PointInT >::new2boundary_ [private] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::next_is_ffn_ [private] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::next_is_sfn_ [private] |
template<typename PointInT>
int pcl::GreedyProjectionTriangulation< PointInT >::nnn_ [protected] |
template<typename PointInT>
std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::part_ [private] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::prev_is_ffn_ [private] |
template<typename PointInT>
bool pcl::GreedyProjectionTriangulation< PointInT >::prev_is_sfn_ [private] |
template<typename PointInT>
Eigen::Vector3f pcl::GreedyProjectionTriangulation< PointInT >::proj_qp_ [private] |
template<typename PointInT>
int pcl::GreedyProjectionTriangulation< PointInT >::R_ [private] |
template<typename PointInT>
double pcl::GreedyProjectionTriangulation< PointInT >::search_radius_ [protected] |
template<typename PointInT>
std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::sfn_ [private] |
template<typename PointInT>
std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::source_ [private] |
template<typename PointInT>
std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::state_ [private] |
template<typename PointInT>
Eigen::Vector3f pcl::GreedyProjectionTriangulation< PointInT >::tmp_ [private] |
template<typename PointInT>
pcl::Vertices pcl::GreedyProjectionTriangulation< PointInT >::triangle_ [private] |
template<typename PointInT>
Eigen::Vector3f pcl::GreedyProjectionTriangulation< PointInT >::u_ [private] |
template<typename PointInT>
Eigen::Vector2f pcl::GreedyProjectionTriangulation< PointInT >::uvn_ffn_ [private] |
template<typename PointInT>
Eigen::Vector2f pcl::GreedyProjectionTriangulation< PointInT >::uvn_next_ffn_ [private] |
template<typename PointInT>
Eigen::Vector2f pcl::GreedyProjectionTriangulation< PointInT >::uvn_next_sfn_ [private] |
template<typename PointInT>
Eigen::Vector2f pcl::GreedyProjectionTriangulation< PointInT >::uvn_sfn_ [private] |
template<typename PointInT>
Eigen::Vector3f pcl::GreedyProjectionTriangulation< PointInT >::v_ [private] |
The documentation for this class was generated from the following files: