Integrate several clouds into a common mesh. More...

#include <integration.h>

Public Types
typedef pcl::PointCloud < PointXYZRGBNormal >	CloudXYZRGBNormal
typedef CloudXYZRGBNormal::ConstPtr	CloudXYZRGBNormalConstPtr
typedef CloudXYZRGBNormal::Ptr	CloudXYZRGBNormalPtr
typedef pcl::ihs::Mesh	Mesh
typedef pcl::ihs::MeshConstPtr	MeshConstPtr
typedef pcl::ihs::MeshPtr	MeshPtr
typedef pcl::PointXYZRGBNormal	PointXYZRGBNormal
typedef Mesh::VertexIndex	VertexIndex
typedef Mesh::VertexIndices	VertexIndices
Public Member Functions
void	age (const MeshPtr &mesh, const bool cleanup=true) const
	Outlier rejection. In each merge step points that have not been observed again age by one iteration. Points that are observed again get an age of 0. Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh. A point is removed if it has not been observed from a minimum number of directions.
	Integration ()
	Constructor.
bool	merge (const CloudXYZRGBNormalConstPtr &cloud_data, MeshPtr &mesh_model, const Eigen::Matrix4f &T) const
	Merge the organized cloud into the mesh.
bool	reconstructMesh (const CloudXYZRGBNormalConstPtr &cloud_data, MeshPtr &mesh_model) const
	Reconstructs a mesh from an organized cloud.
void	removeUnfitVertices (const MeshPtr &mesh, const bool cleanup=true) const
	Removes unfit vertices regardless of their age. Unfit vertices are those that have not been observed from enough directions.

void	setMaxSquaredDistance (const float squared_distance)
	Corresponding points are averaged out if their distance is below a distance threshold. Else the points are added to the mesh as new vertices (Set in cm^2).
float	getMaxSquaredDistance () const

void	setMaxAngle (const float angle)
	Corresponding points are only averaged out if the angle between the normals is smaller than an angle threshold.
float	getMaxAngle () const

void	setMaxAge (const unsigned int age)
	Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh.
unsigned int	getMaxAge () const

void	setMinDirections (const unsigned int directions)
	A point is removed if it has not been observed from a minimum number of directions.
unsigned int	getMinDirections () const
Private Types
typedef pcl::ihs::CloudIHS	CloudIHS
typedef pcl::ihs::CloudIHSConstPtr	CloudIHSConstPtr
typedef pcl::ihs::CloudIHSPtr	CloudIHSPtr
typedef pcl::PointCloud< PointXYZ >	CloudXYZ
typedef CloudXYZ::ConstPtr	CloudXYZConstPtr
typedef CloudXYZ::Ptr	CloudXYZPtr
typedef pcl::KdTree< PointXYZ >	KdTree
typedef boost::shared_ptr < const KdTree >	KdTreeConstPtr
typedef boost::shared_ptr< KdTree >	KdTreePtr
typedef pcl::ihs::PointIHS	PointIHS
typedef pcl::PointXYZ	PointXYZ
Private Member Functions
void	addToMesh (const PointIHS &pt_0, const PointIHS &pt_1, const PointIHS &pt_2, const PointIHS &pt_3, VertexIndex &vi_0, VertexIndex &vi_1, VertexIndex &vi_2, VertexIndex &vi_3, const MeshPtr &mesh) const
	Adds two triangles between points 0-1-3 and 1-2-3 to the mesh.
void	addToMesh (const PointIHS &pt_0, const PointIHS &pt_1, const PointIHS &pt_2, VertexIndex &vi_0, VertexIndex &vi_1, VertexIndex &vi_2, const MeshPtr &mesh) const
	Adds a triangle between the points 0-1-2 to the mesh.
bool	distanceThreshold (const PointIHS &pt_0, const PointIHS &pt_1, const PointIHS &pt_2) const
	Returns true if the distance between the three points is below a threshold.
bool	distanceThreshold (const PointIHS &pt_0, const PointIHS &pt_1, const PointIHS &pt_2, const PointIHS &pt_3) const
	Returns true if the distance between the four points is below a threshold.
uint8_t	trimRGB (const float val) const
Private Attributes
KdTreePtr	kd_tree_
	Nearest neighbor search.
unsigned int	max_age_
	Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh.
float	max_angle_
	Maximum angle between normals below which points are averaged out. In degrees.
float	max_squared_distance_
	Maximum squared distance below which points are averaged out.
unsigned int	min_directions_
	A point is removed if it has not been observed from a minimum number of directions.
float	min_weight_
	Minimum weight above which points are added.

Detailed Description

Integrate several clouds into a common mesh.

Author:: Martin Saelzle

Definition at line 71 of file integration.h.

Member Typedef Documentation

typedef pcl::ihs::CloudIHS pcl::ihs::Integration::CloudIHS [private]

Definition at line 163 of file integration.h.

typedef pcl::ihs::CloudIHSConstPtr pcl::ihs::Integration::CloudIHSConstPtr [private]

Definition at line 165 of file integration.h.

typedef pcl::ihs::CloudIHSPtr pcl::ihs::Integration::CloudIHSPtr [private]

Definition at line 164 of file integration.h.

typedef pcl::PointCloud<PointXYZ> pcl::ihs::Integration::CloudXYZ [private]

Definition at line 158 of file integration.h.

typedef CloudXYZ::ConstPtr pcl::ihs::Integration::CloudXYZConstPtr [private]

Definition at line 160 of file integration.h.

typedef CloudXYZ::Ptr pcl::ihs::Integration::CloudXYZPtr [private]

Definition at line 159 of file integration.h.

typedef pcl::PointCloud<PointXYZRGBNormal> pcl::ihs::Integration::CloudXYZRGBNormal

Definition at line 76 of file integration.h.

typedef CloudXYZRGBNormal::ConstPtr pcl::ihs::Integration::CloudXYZRGBNormalConstPtr

Definition at line 78 of file integration.h.

typedef CloudXYZRGBNormal::Ptr pcl::ihs::Integration::CloudXYZRGBNormalPtr

Definition at line 77 of file integration.h.

typedef pcl::KdTree<PointXYZ> pcl::ihs::Integration::KdTree [private]

Definition at line 167 of file integration.h.

typedef boost::shared_ptr<const KdTree> pcl::ihs::Integration::KdTreeConstPtr [private]

Definition at line 169 of file integration.h.

typedef boost::shared_ptr<KdTree> pcl::ihs::Integration::KdTreePtr [private]

Definition at line 168 of file integration.h.

typedef pcl::ihs::Mesh pcl::ihs::Integration::Mesh

Definition at line 80 of file integration.h.

typedef pcl::ihs::MeshConstPtr pcl::ihs::Integration::MeshConstPtr

Definition at line 82 of file integration.h.

typedef pcl::ihs::MeshPtr pcl::ihs::Integration::MeshPtr

Definition at line 81 of file integration.h.

typedef pcl::ihs::PointIHS pcl::ihs::Integration::PointIHS [private]

Definition at line 162 of file integration.h.

typedef pcl::PointXYZ pcl::ihs::Integration::PointXYZ [private]

Definition at line 157 of file integration.h.

typedef pcl::PointXYZRGBNormal pcl::ihs::Integration::PointXYZRGBNormal

Definition at line 75 of file integration.h.

typedef Mesh::VertexIndex pcl::ihs::Integration::VertexIndex

Definition at line 83 of file integration.h.

typedef Mesh::VertexIndices pcl::ihs::Integration::VertexIndices

Definition at line 84 of file integration.h.

Constructor & Destructor Documentation

pcl::ihs::Integration::Integration ( )

Constructor.

Definition at line 54 of file integration.cpp.

Member Function Documentation

void pcl::ihs::Integration::addToMesh	(	const PointIHS &	pt_0,
		const PointIHS &	pt_1,
		const PointIHS &	pt_2,
		const PointIHS &	pt_3,
		VertexIndex &	vi_0,
		VertexIndex &	vi_1,
		VertexIndex &	vi_2,
		VertexIndex &	vi_3,
		const MeshPtr &	mesh
	)		const `[private]`

Adds two triangles between points 0-1-3 and 1-2-3 to the mesh.

Definition at line 507 of file integration.cpp.

void pcl::ihs::Integration::addToMesh	(	const PointIHS &	pt_0,
		const PointIHS &	pt_1,
		const PointIHS &	pt_2,
		VertexIndex &	vi_0,
		VertexIndex &	vi_1,
		VertexIndex &	vi_2,
		const MeshPtr &	mesh
	)		const `[private]`

Adds a triangle between the points 0-1-2 to the mesh.

Definition at line 554 of file integration.cpp.

void pcl::ihs::Integration::age	(	const MeshPtr &	mesh,
		const bool	cleanup = `true`
	)		const

Outlier rejection. In each merge step points that have not been observed again age by one iteration. Points that are observed again get an age of 0. Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh. A point is removed if it has not been observed from a minimum number of directions.

Parameters:

[in,out]	mesh	The mesh which should be processed.
[in]	cleanup	Calls mesh.cleanup () if true.

Definition at line 389 of file integration.cpp.

bool pcl::ihs::Integration::distanceThreshold	(	const PointIHS &	pt_0,
		const PointIHS &	pt_1,
		const PointIHS &	pt_2
	)		const `[private]`

Returns true if the distance between the three points is below a threshold.

Definition at line 577 of file integration.cpp.

bool pcl::ihs::Integration::distanceThreshold	(	const PointIHS &	pt_0,
		const PointIHS &	pt_1,
		const PointIHS &	pt_2,
		const PointIHS &	pt_3
	)		const `[private]`

Returns true if the distance between the four points is below a threshold.

Definition at line 590 of file integration.cpp.

unsigned int pcl::ihs::Integration::getMaxAge ( ) const

Definition at line 477 of file integration.cpp.

float pcl::ihs::Integration::getMaxAngle ( ) const

Definition at line 463 of file integration.cpp.

float pcl::ihs::Integration::getMaxSquaredDistance ( ) const

Definition at line 449 of file integration.cpp.

unsigned int pcl::ihs::Integration::getMinDirections ( ) const

Definition at line 491 of file integration.cpp.

bool pcl::ihs::Integration::merge	(	const CloudXYZRGBNormalConstPtr &	cloud_data,
		MeshPtr &	mesh_model,
		const Eigen::Matrix4f &	T
	)		const

Merge the organized cloud into the mesh.

Parameters:

[in]	cloud_data	Input cloud. Must be organized.
[in,out]	mesh_model	Mesh with new points integrated.
[in]	T	Transformation that aligns the data cloud with the model mesh.

Returns:: true if success.

Definition at line 185 of file integration.cpp.

bool pcl::ihs::Integration::reconstructMesh	(	const CloudXYZRGBNormalConstPtr &	cloud_data,
		MeshPtr &	mesh_model
	)		const

Reconstructs a mesh from an organized cloud.

Parameters:

[in]	cloud_data	Input cloud. Must be organized.
[in]	mesh_model	Reconstructed mesh.

Returns:: true if success.

Definition at line 67 of file integration.cpp.

void pcl::ihs::Integration::removeUnfitVertices	(	const MeshPtr &	mesh,
		const bool	cleanup = `true`
	)		const

Removes unfit vertices regardless of their age. Unfit vertices are those that have not been observed from enough directions.

Parameters:

[in,out]	mesh	The which should be processed.
[in]	cleanup	Calls mesh.cleanup () if true.

Definition at line 423 of file integration.cpp.

void pcl::ihs::Integration::setMaxAge ( const unsigned int age )

Once a point reaches the maximum age it is decided if the point is removed or kept in the mesh.

Note:: Must be greater than zero.

Definition at line 471 of file integration.cpp.

void pcl::ihs::Integration::setMaxAngle ( const float angle )

Corresponding points are only averaged out if the angle between the normals is smaller than an angle threshold.

Note:: Must be between 0 and 180. Values outside this range are clamped to the nearest valid value.

Definition at line 457 of file integration.cpp.

void pcl::ihs::Integration::setMaxSquaredDistance ( const float squared_distance )

Corresponding points are averaged out if their distance is below a distance threshold. Else the points are added to the mesh as new vertices (Set in cm^2).