Simple triangulation/surface reconstruction for organized point clouds. Neighboring points (pixels in image space) are connected to construct a triangular (or quad) mesh. More...

#include <organized_fast_mesh.h>

Public Types
typedef boost::shared_ptr < const OrganizedFastMesh < PointInT > >	ConstPtr
typedef pcl::PointCloud < PointInT >::Ptr	PointCloudPtr
typedef std::vector < pcl::Vertices >	Polygons
typedef boost::shared_ptr < OrganizedFastMesh< PointInT > >	Ptr
enum	TriangulationType { TRIANGLE_RIGHT_CUT, TRIANGLE_LEFT_CUT, TRIANGLE_ADAPTIVE_CUT, QUAD_MESH }
Public Member Functions
const Eigen::Vector3f &	getViewpoint () const
	Get the viewpoint from where the input point cloud has been acquired.
	OrganizedFastMesh ()
	Constructor. Triangulation type defaults to QUAD_MESH.
void	setAngleTolerance (float angle_tolerance)
	Set the angle tolerance used for checking whether or not an edge is occluded. Standard values are 5deg to 15deg (input in rad!). Set a value smaller than zero to disable the check for shadowed edges.
void	setDistanceTolerance (float distance_tolerance, bool depth_dependent=false)
void	setMaxEdgeLength (float a, float b=0.0f, float c=0.0f)
	Set a maximum edge length. Using not only the scalar a, but also b and c, allows for using a distance threshold in the form of: threshold(x) = cxx + b*x + a.
void	setTrianglePixelSize (int triangle_size)
	Set the edge length (in pixels) used for constructing the fixed mesh.
void	setTrianglePixelSizeColumns (int triangle_size)
	Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.
void	setTrianglePixelSizeRows (int triangle_size)
	Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.
void	setTriangulationType (TriangulationType type)
	Set the triangulation type (see TriangulationType)
void	setViewpoint (const Eigen::Vector3f &viewpoint)
	Set the viewpoint from where the input point cloud has been acquired.
void	storeShadowedFaces (bool enable)
	Store shadowed faces or not.
void	unsetMaxEdgeLength ()
void	useDepthAsDistance (bool enable)
	Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpoint).
virtual	~OrganizedFastMesh ()
	Destructor.
Protected Member Functions
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.
void	addTriangle (int a, int b, int c, int idx, std::vector< pcl::Vertices > &polygons)
	Add a new triangle to the current polygon mesh.
bool	isShadowed (const PointInT &point_a, const PointInT &point_b)
	Check if a point is shadowed by another point.
bool	isShadowedQuad (const int &a, const int &b, const int &c, const int &d)
	Check if a triangle is shadowed.
bool	isShadowedTriangle (const int &a, const int &b, const int &c)
	Check if a triangle is shadowed.
bool	isValidQuad (const int &a, const int &b, const int &c, const int &d)
	Check if a quad is valid.
bool	isValidTriangle (const int &a, const int &b, const int &c)
	Check if a triangle is valid.
void	makeAdaptiveCutMesh (std::vector< pcl::Vertices > &polygons)
	Create an adaptive cut mesh.
void	makeLeftCutMesh (std::vector< pcl::Vertices > &polygons)
	Create a left cut mesh.
void	makeQuadMesh (std::vector< pcl::Vertices > &polygons)
	Create a quad mesh.
void	makeRightCutMesh (std::vector< pcl::Vertices > &polygons)
	Create a right cut mesh.
virtual void	performReconstruction (std::vector< pcl::Vertices > &polygons)
	Create the surface.
void	performReconstruction (pcl::PolygonMesh &output)
	Create the surface.
void	reconstructPolygons (std::vector< pcl::Vertices > &polygons)
	Perform the actual polygonal reconstruction.
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.
Protected Attributes
float	cos_angle_tolerance_
	(Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed.
bool	distance_dependent_
	flag whether or not distance_tolerance_ is distance dependent (multiplied by the squared distance to the point) or not.
float	distance_tolerance_
	distance tolerance for filtering out shadowed/occluded edges
float	max_edge_length_a_
	max length of edge, scalar component
float	max_edge_length_b_
	max length of edge, scalar component
float	max_edge_length_c_
	max length of edge, scalar component
bool	max_edge_length_dist_dependent_
	flag whether or not max edge length is distance dependent.
bool	max_edge_length_set_
	flag whether or not edges are limited in length
bool	store_shadowed_faces_
	Whether or not shadowed faces are stored, e.g., for exploration.
int	triangle_pixel_size_columns_
	size of triangle edges (in pixels) for iterating over columns
int	triangle_pixel_size_rows_
	size of triangle edges (in pixels) for iterating over rows.
TriangulationType	triangulation_type_
	Type of meshing scheme (quads vs. triangles, left cut vs. right cut ...
bool	use_depth_as_distance_
	flag whether or not the points' depths are used instead of measured distances (points' distances to the viewpoint). This flag may be set using useDepthAsDistance(true) for (RGB-)Depth cameras to skip computations and gain additional speed up.
Eigen::Vector3f	viewpoint_
	Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data).

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 (or quad) 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.

template<typename PointInT>

virtual pcl::OrganizedFastMesh< PointInT >::~OrganizedFastMesh ( ) [inline, virtual]

Destructor.

Definition at line 107 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
	)		`[inline, protected]`

Add a new quad to the current polygon mesh.

Parameters:

[in]	a	index of the first vertex
[in]	b	index of the second vertex
[in]	c	index of the third vertex
[in]	d	index of the fourth vertex
[in]	idx	the index in the set of polygon vertices (assumes idx is valid in polygons)
[out]	polygons	the polygon mesh to be updated

Definition at line 321 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
	)		`[inline, protected]`

Add a new triangle to the current polygon mesh.

Parameters:

[in]	a	index of the first vertex
[in]	b	index of the second vertex
[in]	c	index of the third vertex
[in]	idx	the index in the set of polygon vertices (assumes idx is valid in polygons)
[out]	polygons	the polygon mesh to be updated

Definition at line 303 of file organized_fast_mesh.h.

template<typename PointInT>

const Eigen::Vector3f& pcl::OrganizedFastMesh< PointInT >::getViewpoint ( ) const [inline]

Get the viewpoint from where the input point cloud has been acquired.

Definition at line 184 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::isShadowed	(	const PointInT &	point_a,
		const PointInT &	point_b
	)		`[inline, protected]`

Check if a point is shadowed by another point.

Parameters:

[in]	point_a	the first point
[in]	point_b	the second point

Definition at line 354 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::isShadowedQuad	(	const int &	a,
		const int &	b,
		const int &	c,
		const int &	d
	)		`[inline, protected]`

Check if a triangle is shadowed.

Parameters:

[in]	a	index of the first vertex
[in]	b	index of the second vertex
[in]	c	index of the third vertex
[in]	d	index of the fourth vertex

Definition at line 453 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::isShadowedTriangle	(	const int &	a,
		const int &	b,
		const int &	c
	)		`[inline, protected]`

Check if a triangle is shadowed.

Parameters:

[in]	a	index of the first vertex
[in]	b	index of the second vertex
[in]	c	index of the third vertex

Definition at line 422 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::isValidQuad	(	const int &	a,
		const int &	b,
		const int &	c,
		const int &	d
	)		`[inline, protected]`

Check if a quad is valid.

Parameters:

[in]	a	index of the first vertex
[in]	b	index of the second vertex
[in]	c	index of the third vertex
[in]	d	index of the fourth vertex

Definition at line 437 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::isValidTriangle	(	const int &	a,
		const int &	b,
		const int &	c
	)		`[inline, protected]`

Check if a triangle is valid.

Parameters:

[in]	a	index of the first vertex
[in]	b	index of the second vertex
[in]	c	index of the third vertex

Definition at line 408 of file organized_fast_mesh.h.

template<typename PointInT >

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

Create an adaptive cut mesh.

Parameters:

[out] polygons the resultant mesh

Definition at line 210 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] polygons the resultant mesh

Definition at line 169 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] polygons the resultant mesh

Definition at line 91 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] polygons the resultant mesh

Definition at line 128 of file organized_fast_mesh.hpp.

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::performReconstruction ( std::vector< pcl::Vertices > & polygons ) [protected, virtual]

Create the surface.

Parameters:

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

Definition at line 70 of file organized_fast_mesh.hpp.

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::performReconstruction ( pcl::PolygonMesh & output ) [protected]

Create the surface.

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

Parameters:

[out] output the resultant polygonal mesh

Definition at line 49 of file organized_fast_mesh.hpp.

template<typename PointInT >

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

Perform the actual polygonal reconstruction.

Parameters:

[out] polygons the resultant polygons

Definition at line 77 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`
	)		`[inline, protected]`

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

Parameters:

[in]	point_index	index of point
[out]	mesh	to modify
[in]	value	value to use when re-setting
[in]	field_x_idx	the X coordinate of the point
[in]	field_y_idx	the Y coordinate of the point
[in]	field_z_idx	the Z coordinate of the point

Definition at line 340 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::setAngleTolerance ( float angle_tolerance ) [inline]

Set the angle tolerance used for checking whether or not an edge is occluded. Standard values are 5deg to 15deg (input in rad!). Set a value smaller than zero to disable the check for shadowed edges.

Parameters:

[in] angle_tolerance Angle tolerance (in rad). Set a value <0 to disable.

Definition at line 204 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::setDistanceTolerance	(	float	distance_tolerance,
		bool	depth_dependent = `false`
	)		`[inline]`

Definition at line 213 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::setMaxEdgeLength	(	float	a,
		float	b = `0.0f`,
		float	c = `0.0f`
	)		`[inline]`

Set a maximum edge length. Using not only the scalar a, but also b and c, allows for using a distance threshold in the form of: threshold(x) = c*x*x + b*x + a.

Parameters:

[in]	a	scalar coefficient of the (distance-dependent polynom) threshold
[in]	b	linear coefficient of the (distance-dependent polynom) threshold
[in]	c	quadratic coefficient of the (distance-dependent polynom) threshold

Definition at line 117 of file organized_fast_mesh.h.

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_size edge length in pixels (Default: 1 = neighboring pixels are connected)

Definition at line 139 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSizeColumns ( int triangle_size ) [inline]

Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.

Parameters:

[in] triangle_size edge length in pixels (Default: 1 = neighboring pixels are connected)

Definition at line 160 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSizeRows ( int triangle_size ) [inline]

Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.

Parameters:

[in] triangle_size edge length in pixels (Default: 1 = neighboring pixels are connected)

Definition at line 150 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::setTriangulationType ( TriangulationType type ) [inline]

Set the triangulation type (see TriangulationType)

Parameters:

[in] type quad mesh, triangle mesh with fixed left, right cut, or adaptive cut (splits a quad w.r.t. the depth (z) of the points)

Definition at line 170 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::setViewpoint ( const Eigen::Vector3f & viewpoint ) [inline]

Set the viewpoint from where the input point cloud has been acquired.

Parameters:

[in] viewpoint Vector containing the viewpoint coordinates (in the coordinate system of the data)

Definition at line 178 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::storeShadowedFaces ( bool enable ) [inline]

Store shadowed faces or not.

Parameters:

[in] enable set to true to store shadowed faces

Definition at line 193 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::unsetMaxEdgeLength ( ) [inline]

Definition at line 129 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::useDepthAsDistance ( bool enable ) [inline]

Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpoint).

Parameters:

[in] enable Set to true skips comptations and further speeds up computation by using depth instead of computing distance. false to disable.

Definition at line 226 of file organized_fast_mesh.h.

Member Data Documentation

template<typename PointInT>

float pcl::OrganizedFastMesh< PointInT >::cos_angle_tolerance_ [protected]

(Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed.

Definition at line 260 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::distance_dependent_ [protected]

flag whether or not distance_tolerance_ is distance dependent (multiplied by the squared distance to the point) or not.

Definition at line 266 of file organized_fast_mesh.h.

template<typename PointInT>

float pcl::OrganizedFastMesh< PointInT >::distance_tolerance_ [protected]

distance tolerance for filtering out shadowed/occluded edges

Definition at line 263 of file organized_fast_mesh.h.

template<typename PointInT>

float pcl::OrganizedFastMesh< PointInT >::max_edge_length_a_ [protected]

max length of edge, scalar component

Definition at line 233 of file organized_fast_mesh.h.

template<typename PointInT>

float pcl::OrganizedFastMesh< PointInT >::max_edge_length_b_ [protected]

max length of edge, scalar component

Definition at line 235 of file organized_fast_mesh.h.

template<typename PointInT>

float pcl::OrganizedFastMesh< PointInT >::max_edge_length_c_ [protected]

max length of edge, scalar component

Definition at line 237 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::max_edge_length_dist_dependent_ [protected]

flag whether or not max edge length is distance dependent.

Definition at line 242 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::max_edge_length_set_ [protected]

flag whether or not edges are limited in length

Definition at line 239 of file organized_fast_mesh.h.

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 257 of file organized_fast_mesh.h.

template<typename PointInT>

int pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_columns_ [protected]

size of triangle edges (in pixels) for iterating over columns

Definition at line 248 of file organized_fast_mesh.h.

template<typename PointInT>

int pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_rows_ [protected]

size of triangle edges (in pixels) for iterating over rows.

Definition at line 245 of file organized_fast_mesh.h.

template<typename PointInT>

TriangulationType pcl::OrganizedFastMesh< PointInT >::triangulation_type_ [protected]

Type of meshing scheme (quads vs. triangles, left cut vs. right cut ...

Definition at line 251 of file organized_fast_mesh.h.

template<typename PointInT>

bool pcl::OrganizedFastMesh< PointInT >::use_depth_as_distance_ [protected]

flag whether or not the points' depths are used instead of measured distances (points' distances to the viewpoint). This flag may be set using useDepthAsDistance(true) for (RGB-)Depth cameras to skip computations and gain additional speed up.

Definition at line 270 of file organized_fast_mesh.h.

template<typename PointInT>

Eigen::Vector3f pcl::OrganizedFastMesh< PointInT >::viewpoint_ [protected]

Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data).

Definition at line 254 of file organized_fast_mesh.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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