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. More... | |
| OrganizedFastMesh () | |
| Constructor. Triangulation type defaults to QUAD_MESH. More... | |
| 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. More... | |
| 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) = c*x*x + b*x + a. More... | |
| void | setTrianglePixelSize (int triangle_size) |
| Set the edge length (in pixels) used for constructing the fixed mesh. More... | |
| void | setTrianglePixelSizeColumns (int triangle_size) |
| Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh. More... | |
| void | setTrianglePixelSizeRows (int triangle_size) |
| Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh. More... | |
| void | setTriangulationType (TriangulationType type) |
| Set the triangulation type (see TriangulationType) More... | |
| void | setViewpoint (const Eigen::Vector3f &viewpoint) |
| Set the viewpoint from where the input point cloud has been acquired. More... | |
| void | storeShadowedFaces (bool enable) |
| Store shadowed faces or not. More... | |
| void | unsetMaxEdgeLength () |
| void | useDepthAsDistance (bool enable) |
| Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpoint). More... | |
| virtual | ~OrganizedFastMesh () |
| Destructor. More... | |
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. More... | |
| void | addTriangle (int a, int b, int c, int idx, std::vector< pcl::Vertices > &polygons) |
| Add a new triangle to the current polygon mesh. More... | |
| bool | isShadowed (const PointInT &point_a, const PointInT &point_b) |
| Check if a point is shadowed by another point. More... | |
| bool | isShadowedQuad (const int &a, const int &b, const int &c, const int &d) |
| Check if a triangle is shadowed. More... | |
| bool | isShadowedTriangle (const int &a, const int &b, const int &c) |
| Check if a triangle is shadowed. More... | |
| bool | isValidQuad (const int &a, const int &b, const int &c, const int &d) |
| Check if a quad is valid. More... | |
| bool | isValidTriangle (const int &a, const int &b, const int &c) |
| Check if a triangle is valid. More... | |
| void | makeAdaptiveCutMesh (std::vector< pcl::Vertices > &polygons) |
| Create an adaptive cut mesh. More... | |
| void | makeLeftCutMesh (std::vector< pcl::Vertices > &polygons) |
| Create a left cut mesh. More... | |
| void | makeQuadMesh (std::vector< pcl::Vertices > &polygons) |
| Create a quad mesh. More... | |
| void | makeRightCutMesh (std::vector< pcl::Vertices > &polygons) |
| Create a right cut mesh. More... | |
| virtual void | performReconstruction (std::vector< pcl::Vertices > &polygons) |
| Create the surface. More... | |
| void | performReconstruction (pcl::PolygonMesh &output) |
| Create the surface. More... | |
| void | reconstructPolygons (std::vector< pcl::Vertices > &polygons) |
| Perform the actual polygonal reconstruction. More... | |
| 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. More... | |
Protected Attributes | |
| float | cos_angle_tolerance_ |
| (Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed. More... | |
| bool | distance_dependent_ |
| flag whether or not distance_tolerance_ is distance dependent (multiplied by the squared distance to the point) or not. More... | |
| float | distance_tolerance_ |
| distance tolerance for filtering out shadowed/occluded edges More... | |
| float | max_edge_length_a_ |
| max length of edge, scalar component More... | |
| float | max_edge_length_b_ |
| max length of edge, scalar component More... | |
| float | max_edge_length_c_ |
| max length of edge, scalar component More... | |
| bool | max_edge_length_dist_dependent_ |
| flag whether or not max edge length is distance dependent. More... | |
| bool | max_edge_length_set_ |
| flag whether or not edges are limited in length More... | |
| bool | store_shadowed_faces_ |
| Whether or not shadowed faces are stored, e.g., for exploration. More... | |
| int | triangle_pixel_size_columns_ |
| size of triangle edges (in pixels) for iterating over columns More... | |
| int | triangle_pixel_size_rows_ |
| size of triangle edges (in pixels) for iterating over rows. More... | |
| TriangulationType | triangulation_type_ |
| Type of meshing scheme (quads vs. triangles, left cut vs. right cut ... More... | |
| 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. More... | |
| Eigen::Vector3f | viewpoint_ |
| Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data). More... | |
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
Definition at line 65 of file organized_fast_mesh.h.
Member Typedef Documentation
| typedef boost::shared_ptr<const OrganizedFastMesh<PointInT> > pcl::OrganizedFastMesh< PointInT >::ConstPtr |
Definition at line 69 of file organized_fast_mesh.h.
| typedef pcl::PointCloud<PointInT>::Ptr pcl::OrganizedFastMesh< PointInT >::PointCloudPtr |
Definition at line 74 of file organized_fast_mesh.h.
| typedef std::vector<pcl::Vertices> pcl::OrganizedFastMesh< PointInT >::Polygons |
Definition at line 76 of file organized_fast_mesh.h.
| typedef boost::shared_ptr<OrganizedFastMesh<PointInT> > pcl::OrganizedFastMesh< PointInT >::Ptr |
Definition at line 68 of file organized_fast_mesh.h.
Member Enumeration Documentation
| 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
|
inline |
Constructor. Triangulation type defaults to QUAD_MESH.
Definition at line 87 of file organized_fast_mesh.h.
|
inlinevirtual |
Destructor.
Definition at line 107 of file organized_fast_mesh.h.
Member Function Documentation
|
inlineprotected |
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.
|
inlineprotected |
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.
|
inline |
Get the viewpoint from where the input point cloud has been acquired.
Definition at line 184 of file organized_fast_mesh.h.
|
inlineprotected |
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.
|
inlineprotected |
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.
|
inlineprotected |
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.
|
inlineprotected |
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.
|
inlineprotected |
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.
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protected |
Create an adaptive cut mesh.
- Parameters
-
[out] polygons the resultant mesh
Definition at line 210 of file organized_fast_mesh.hpp.
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protected |
Create a left cut mesh.
- Parameters
-
[out] polygons the resultant mesh
Definition at line 169 of file organized_fast_mesh.hpp.
|
protected |
Create a quad mesh.
- Parameters
-
[out] polygons the resultant mesh
Definition at line 91 of file organized_fast_mesh.hpp.
|
protected |
Create a right cut mesh.
- Parameters
-
[out] polygons the resultant mesh
Definition at line 128 of file organized_fast_mesh.hpp.
|
protectedvirtual |
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.
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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.
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protected |
Perform the actual polygonal reconstruction.
- Parameters
-
[out] polygons the resultant polygons
Definition at line 77 of file organized_fast_mesh.hpp.
|
inlineprotected |
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.
|
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.
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inline |
Definition at line 213 of file organized_fast_mesh.h.
|
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.
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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.
|
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.
|
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.
|
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.
|
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.
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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.
|
inline |
Definition at line 129 of file organized_fast_mesh.h.
|
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
|
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.
|
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.
|
protected |
distance tolerance for filtering out shadowed/occluded edges
Definition at line 263 of file organized_fast_mesh.h.
|
protected |
max length of edge, scalar component
Definition at line 233 of file organized_fast_mesh.h.
|
protected |
max length of edge, scalar component
Definition at line 235 of file organized_fast_mesh.h.
|
protected |
max length of edge, scalar component
Definition at line 237 of file organized_fast_mesh.h.
|
protected |
flag whether or not max edge length is distance dependent.
Definition at line 242 of file organized_fast_mesh.h.
|
protected |
flag whether or not edges are limited in length
Definition at line 239 of file organized_fast_mesh.h.
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protected |
Whether or not shadowed faces are stored, e.g., for exploration.
Definition at line 257 of file organized_fast_mesh.h.
|
protected |
size of triangle edges (in pixels) for iterating over columns
Definition at line 248 of file organized_fast_mesh.h.
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protected |
size of triangle edges (in pixels) for iterating over rows.
Definition at line 245 of file organized_fast_mesh.h.
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protected |
Type of meshing scheme (quads vs. triangles, left cut vs. right cut ...
Definition at line 251 of file organized_fast_mesh.h.
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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.
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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: