Grid projection surface reconstruction method. More...
#include <grid_projection.h>
Classes | |
struct | Leaf |
Data leaf. More... | |
Public Types | |
typedef boost::unordered_map < int, Leaf, boost::hash< int > , std::equal_to< int > , Eigen::aligned_allocator < int > > | HashMap |
typedef pcl::KdTree< PointNT > | KdTree |
typedef pcl::KdTree< PointNT >::Ptr | KdTreePtr |
typedef pcl::PointCloud < PointNT >::Ptr | PointCloudPtr |
Public Member Functions | |
const HashMap & | getCellHashMap () const |
int | getMaxBinarySearchLevel () const |
int | getNearestNeighborNum () const |
int | getPaddingSize () const |
double | getResolution () const |
const std::vector < Eigen::Vector4f, Eigen::aligned_allocator < Eigen::Vector4f > > & | getSurface () const |
const std::vector < Eigen::Vector3f, Eigen::aligned_allocator < Eigen::Vector3f > > & | getVectorAtDataPoint () const |
GridProjection () | |
Constructor. | |
GridProjection (double in_resolution) | |
Constructor. | |
void | setMaxBinarySearchLevel (int max_binary_search_level) |
Binary search is used in projection. given a point x, we find another point which is 3*cell_size_ far away from x. Then we do a binary search between these two points to find where the projected point should be. | |
void | setNearestNeighborNum (int k) |
Set this only when using the k nearest neighbors search instead of finding the point union. | |
void | setPaddingSize (int padding_size) |
When averaging the vectors, we find the union of all the input data points within the padding area,and do a weighted average. Say if the padding size is 1, when we process cell (x,y,z), we will find union of input data points from (x-1) to (x+1), (y-1) to (y+1), (z-1) to (z+1)(in total, 27 cells). In this way, even the cells itself doesnt contain any data points, we will stil process it because there are data points in the padding area. This can help us fix holes which is smaller than the padding size. | |
void | setResolution (double resolution) |
Set the size of the grid cell. | |
~GridProjection () | |
Destructor. | |
Protected Member Functions | |
void | createSurfaceForCell (const Eigen::Vector3i &index, std::vector< int > &pt_union_indices) |
Given the index of a cell, exam it's up, left, front edges, and add the vectices to m_surface list.the up, left, front edges only share 4 points, we first get the vectors at these 4 points and exam whether those three edges are intersected by the surface. | |
void | fillPad (const Eigen::Vector3i &index) |
For a given 3d index of a cell, test whether the cells within its padding area exist in the hash table, if no, create an entry for that cell. | |
void | findIntersection (int level, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &end_pts, const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &vect_at_end_pts, const Eigen::Vector4f &start_pt, std::vector< int > &pt_union_indices, Eigen::Vector4f &intersection) |
Find point where the edge intersects the surface. | |
void | getBoundingBox () |
Get the bounding box for the input data points, also calculating the cell size, and the gaussian scale factor. | |
void | getCellCenterFromIndex (const Eigen::Vector3i &index, Eigen::Vector4f ¢er) const |
Given the 3d index (x, y, z) of the cell, get the coordinates of the cell center. | |
void | getCellIndex (const Eigen::Vector4f &p, Eigen::Vector3i &index) const |
Get the 3d index (x,y,z) of the cell based on the location of the cell. | |
double | getD1AtPoint (const Eigen::Vector4f &p, const Eigen::Vector3f &vec, const std::vector< int > &pt_union_indices) |
Get the 1st derivative. | |
double | getD2AtPoint (const Eigen::Vector4f &p, const Eigen::Vector3f &vec, const std::vector< int > &pt_union_indices) |
Get the 2nd derivative. | |
void | getDataPtsUnion (const Eigen::Vector3i &index, std::vector< int > &pt_union_indices) |
Obtain the index of a cell and the pad size. | |
int | getIndexIn1D (const Eigen::Vector3i &index) const |
Given an index (x, y, z) in 3d, translate it into the index in 1d. | |
void | getIndexIn3D (int index_1d, Eigen::Vector3i &index_3d) const |
Given an index in 1d, translate it into the index (x, y, z) in 3d. | |
double | getMagAtPoint (const Eigen::Vector4f &p, const std::vector< int > &pt_union_indices) |
Get the magnitude of the vector by summing up the distance. | |
void | getProjection (const Eigen::Vector4f &p, std::vector< int > &pt_union_indices, Eigen::Vector4f &projection) |
Given the coordinates of one point, project it onto the surface, return the projected point. Do a binary search between p and p+projection_distance to find the projected point. | |
void | getProjectionWithPlaneFit (const Eigen::Vector4f &p, std::vector< int > &pt_union_indices, Eigen::Vector4f &projection) |
Given the coordinates of one point, project it onto the surface, return the projected point. Find the plane which fits all the points in pt_union_indices, projected p to the plane to get the projected point. | |
void | getVectorAtPoint (const Eigen::Vector4f &p, std::vector< int > &pt_union_indices, Eigen::Vector3f &vo) |
Given the location of a point, get it's vector. | |
void | getVectorAtPointKNN (const Eigen::Vector4f &p, std::vector< int > &k_indices, std::vector< float > &k_squared_distances, Eigen::Vector3f &vo) |
Given the location of a point, get it's vector. | |
void | getVertexFromCellCenter (const Eigen::Vector4f &cell_center, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &pts) const |
Given cell center, caluate the coordinates of the eight vertices of the cell. | |
bool | isIntersected (const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &end_pts, std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &vect_at_end_pts, std::vector< int > &pt_union_indices) |
Test whether the edge is intersected by the surface by doing the dot product of the vector at two end points. Also test whether the edge is intersected by the maximum surface by examing the 2nd derivative of the intersection point. | |
void | performReconstruction (pcl::PolygonMesh &output) |
Create the surface. | |
void | performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) |
Create the surface. | |
bool | reconstructPolygons (std::vector< pcl::Vertices > &polygons) |
The actual surface reconstruction method. | |
void | scaleInputDataPoint (double scale_factor) |
When the input data points don't fill into the 1*1*1 box, scale them so that they can be filled in the unit box. Otherwise, it will be some drawing problem when doing visulization. | |
void | storeVectAndSurfacePoint (int index_1d, const Eigen::Vector3i &index_3d, std::vector< int > &pt_union_indices, const Leaf &cell_data) |
Go through all the entries in the hash table and update the cellData. | |
void | storeVectAndSurfacePointKNN (int index_1d, const Eigen::Vector3i &index_3d, const Leaf &cell_data) |
Go through all the entries in the hash table and update the cellData. When creating the hash table, the pt_on_surface field store the center point of the cell.After calling this function, the projection operator will project the center point onto the surface, and the pt_on_surface field will be updated using the projected point.Also the vect_at_grid_pt field will be updated using the vector at the upper left front vertex of the cell. When projecting the point and calculating the vector, using K nearest neighbors instead of using the union of input data point within the cell and pads. | |
Private Member Functions | |
std::string | getClassName () const |
Class get name method. | |
Private Attributes | |
HashMap | cell_hash_map_ |
Map containing the set of leaves. | |
PointCloudPtr | data_ |
The point cloud input (XYZ+Normals). | |
int | data_size_ |
Data size. | |
double | gaussian_scale_ |
Gaussian scale. | |
int | k_ |
Number of neighbors (k) to use. | |
double | leaf_size_ |
The size of a leaf. | |
int | max_binary_search_level_ |
Max binary search level. | |
Eigen::Vector4f | max_p_ |
Eigen::Vector4f | min_p_ |
Min and max data points. | |
boost::dynamic_bitset | occupied_cell_list_ |
Bit map which tells if there is any input data point in the cell. | |
int | padding_size_ |
Padding size. | |
std::vector< Eigen::Vector4f, Eigen::aligned_allocator < Eigen::Vector4f > > | surface_ |
An array of points which lay on the output surface. | |
std::vector< Eigen::Vector3f, Eigen::aligned_allocator < Eigen::Vector3f > > | vector_at_data_point_ |
Store the surface normal(vector) at the each input data point. |
Grid projection surface reconstruction method.
Definition at line 73 of file grid_projection.h.
typedef boost::unordered_map<int, Leaf, boost::hash<int>, std::equal_to<int>, Eigen::aligned_allocator<int> > pcl::GridProjection< PointNT >::HashMap |
Definition at line 94 of file grid_projection.h.
typedef pcl::KdTree<PointNT> pcl::GridProjection< PointNT >::KdTree |
Reimplemented from pcl::PCLSurfaceBase< PointNT >.
Definition at line 81 of file grid_projection.h.
typedef pcl::KdTree<PointNT>::Ptr pcl::GridProjection< PointNT >::KdTreePtr |
Reimplemented from pcl::PCLSurfaceBase< PointNT >.
Definition at line 82 of file grid_projection.h.
typedef pcl::PointCloud<PointNT>::Ptr pcl::GridProjection< PointNT >::PointCloudPtr |
Reimplemented from pcl::PCLBase< PointNT >.
Definition at line 79 of file grid_projection.h.
pcl::GridProjection< PointNT >::GridProjection | ( | ) |
Constructor.
Definition at line 49 of file grid_projection.hpp.
pcl::GridProjection< PointNT >::GridProjection | ( | double | in_resolution | ) |
Constructor.
in_resolution | set the resolution of the grid |
Definition at line 57 of file grid_projection.hpp.
pcl::GridProjection< PointNT >::~GridProjection | ( | ) |
Destructor.
Definition at line 65 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::createSurfaceForCell | ( | const Eigen::Vector3i & | index, |
std::vector< int > & | pt_union_indices | ||
) | [protected] |
Given the index of a cell, exam it's up, left, front edges, and add the vectices to m_surface list.the up, left, front edges only share 4 points, we first get the vectors at these 4 points and exam whether those three edges are intersected by the surface.
index | the input index |
pt_union_indices | the union of input data points within the cell and padding cells |
Definition at line 177 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::fillPad | ( | const Eigen::Vector3i & | index | ) | [protected] |
For a given 3d index of a cell, test whether the cells within its padding area exist in the hash table, if no, create an entry for that cell.
index | the index of the cell in (x,y,z) format |
Definition at line 561 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::findIntersection | ( | int | level, |
const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & | end_pts, | ||
const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & | vect_at_end_pts, | ||
const Eigen::Vector4f & | start_pt, | ||
std::vector< int > & | pt_union_indices, | ||
Eigen::Vector4f & | intersection | ||
) | [protected] |
Find point where the edge intersects the surface.
level | binary search level |
end_pts | the two end points on the edge |
vect_at_end_pts | the vectors at the two end points |
start_pt | the starting point we use for binary search |
pt_union_indices | the union of input data points within the cell and padding cells |
intersection | the resultant intersection point |
Definition at line 510 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::getBoundingBox | ( | ) | [protected] |
Get the bounding box for the input data points, also calculating the cell size, and the gaussian scale factor.
Definition at line 90 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::getCellCenterFromIndex | ( | const Eigen::Vector3i & | index, |
Eigen::Vector4f & | center | ||
) | const [inline, protected] |
Given the 3d index (x, y, z) of the cell, get the coordinates of the cell center.
index | the output 3d index |
center | the resultant cell center |
Definition at line 256 of file grid_projection.h.
const HashMap& pcl::GridProjection< PointNT >::getCellHashMap | ( | ) | const [inline] |
Definition at line 174 of file grid_projection.h.
void pcl::GridProjection< PointNT >::getCellIndex | ( | const Eigen::Vector4f & | p, |
Eigen::Vector3i & | index | ||
) | const [inline, protected] |
Get the 3d index (x,y,z) of the cell based on the location of the cell.
p | the coordinate of the input point |
index | the output 3d index |
Definition at line 244 of file grid_projection.h.
std::string pcl::GridProjection< PointNT >::getClassName | ( | ) | const [inline, private, virtual] |
Class get name method.
Reimplemented from pcl::PCLSurfaceBase< PointNT >.
Definition at line 496 of file grid_projection.h.
double pcl::GridProjection< PointNT >::getD1AtPoint | ( | const Eigen::Vector4f & | p, |
const Eigen::Vector3f & | vec, | ||
const std::vector< int > & | pt_union_indices | ||
) | [protected] |
Get the 1st derivative.
p | the coordinate of the input point |
vec | the vector at point p |
pt_union_indices | the union of input data points within the cell and padding cells |
Definition at line 449 of file grid_projection.hpp.
double pcl::GridProjection< PointNT >::getD2AtPoint | ( | const Eigen::Vector4f & | p, |
const Eigen::Vector3f & | vec, | ||
const std::vector< int > & | pt_union_indices | ||
) | [protected] |
Get the 2nd derivative.
p | the coordinate of the input point |
vec | the vector at point p |
pt_union_indices | the union of input data points within the cell and padding cells |
Definition at line 462 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::getDataPtsUnion | ( | const Eigen::Vector3i & | index, |
std::vector< int > & | pt_union_indices | ||
) | [protected] |
Obtain the index of a cell and the pad size.
index | the input index |
pt_union_indices | the union of input data points within the cell and padding cells |
Definition at line 151 of file grid_projection.hpp.
int pcl::GridProjection< PointNT >::getIndexIn1D | ( | const Eigen::Vector3i & | index | ) | const [inline, protected] |
Given an index (x, y, z) in 3d, translate it into the index in 1d.
index | the index of the cell in (x,y,z) 3d format |
Definition at line 278 of file grid_projection.h.
void pcl::GridProjection< PointNT >::getIndexIn3D | ( | int | index_1d, |
Eigen::Vector3i & | index_3d | ||
) | const [inline, protected] |
Given an index in 1d, translate it into the index (x, y, z) in 3d.
index_1d | the input 1d index |
index_3d | the output 3d index |
Definition at line 291 of file grid_projection.h.
double pcl::GridProjection< PointNT >::getMagAtPoint | ( | const Eigen::Vector4f & | p, |
const std::vector< int > & | pt_union_indices | ||
) | [protected] |
Get the magnitude of the vector by summing up the distance.
p | the coordinate of the input point |
pt_union_indices | the union of input data points within the cell and padding cells |
Definition at line 432 of file grid_projection.hpp.
int pcl::GridProjection< PointNT >::getMaxBinarySearchLevel | ( | ) | const [inline] |
Definition at line 167 of file grid_projection.h.
int pcl::GridProjection< PointNT >::getNearestNeighborNum | ( | ) | const [inline] |
Definition at line 152 of file grid_projection.h.
int pcl::GridProjection< PointNT >::getPaddingSize | ( | ) | const [inline] |
Definition at line 137 of file grid_projection.h.
void pcl::GridProjection< PointNT >::getProjection | ( | const Eigen::Vector4f & | p, |
std::vector< int > & | pt_union_indices, | ||
Eigen::Vector4f & | projection | ||
) | [protected] |
Given the coordinates of one point, project it onto the surface, return the projected point. Do a binary search between p and p+projection_distance to find the projected point.
p | the coordinates of the input point |
pt_union_indices | the union of input data points within the cell and padding cells |
projection | the resultant point projected |
Definition at line 277 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::getProjectionWithPlaneFit | ( | const Eigen::Vector4f & | p, |
std::vector< int > & | pt_union_indices, | ||
Eigen::Vector4f & | projection | ||
) | [protected] |
Given the coordinates of one point, project it onto the surface, return the projected point. Find the plane which fits all the points in pt_union_indices, projected p to the plane to get the projected point.
p | the coordinates of the input point |
pt_union_indices | the union of input data points within the cell and padding cells |
projection | the resultant point projected |
Definition at line 316 of file grid_projection.hpp.
double pcl::GridProjection< PointNT >::getResolution | ( | ) | const [inline] |
Definition at line 117 of file grid_projection.h.
const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& pcl::GridProjection< PointNT >::getSurface | ( | ) | const [inline] |
Definition at line 186 of file grid_projection.h.
const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >& pcl::GridProjection< PointNT >::getVectorAtDataPoint | ( | ) | const [inline] |
Definition at line 180 of file grid_projection.h.
void pcl::GridProjection< PointNT >::getVectorAtPoint | ( | const Eigen::Vector4f & | p, |
std::vector< int > & | pt_union_indices, | ||
Eigen::Vector3f & | vo | ||
) | [protected] |
Given the location of a point, get it's vector.
p | the coordinates of the input point |
pt_union_indices | the union of input data points within the cell and padding cells |
vo | the resultant vector |
Definition at line 351 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::getVectorAtPointKNN | ( | const Eigen::Vector4f & | p, |
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_squared_distances, | ||
Eigen::Vector3f & | vo | ||
) | [protected] |
Given the location of a point, get it's vector.
p | the coordinates of the input point |
k_indices | the k nearest neighbors of the query point |
k_squared_distances | the squared distances of the k nearest neighbors to the query point |
vo | the resultant vector |
Definition at line 398 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::getVertexFromCellCenter | ( | const Eigen::Vector4f & | cell_center, |
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & | pts | ||
) | const [protected] |
Given cell center, caluate the coordinates of the eight vertices of the cell.
cell_center | the coordinates of the cell center |
pts | the coordinates of the 8 vertices |
Definition at line 131 of file grid_projection.hpp.
bool pcl::GridProjection< PointNT >::isIntersected | ( | const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & | end_pts, |
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & | vect_at_end_pts, | ||
std::vector< int > & | pt_union_indices | ||
) | [protected] |
Test whether the edge is intersected by the surface by doing the dot product of the vector at two end points. Also test whether the edge is intersected by the maximum surface by examing the 2nd derivative of the intersection point.
end_pts | the two points of the edge |
vect_at_end_pts | |
pt_union_indices | the union of input data points within the cell and padding cells |
Definition at line 475 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::performReconstruction | ( | pcl::PolygonMesh & | output | ) | [protected, virtual] |
Create the surface.
The 1st step is filling the padding, so that all the cells in the padding area are in the hash map. The 2nd step is store the vector, and projected point. The 3rd step is finding all the edges intersects the surface, and creating surface.
[out] | output | the resultant polygonal mesh |
Implements pcl::SurfaceReconstruction< PointNT >.
Definition at line 729 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::performReconstruction | ( | pcl::PointCloud< PointNT > & | points, |
std::vector< pcl::Vertices > & | polygons | ||
) | [protected, virtual] |
Create the surface.
The 1st step is filling the padding, so that all the cells in the padding area are in the hash map. The 2nd step is store the vector, and projected point. The 3rd step is finding all the edges intersects the surface, and creating surface.
[out] | points | the resultant points lying on the surface |
[out] | polygons | the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices. |
Implements pcl::SurfaceReconstruction< PointNT >.
Definition at line 755 of file grid_projection.hpp.
bool pcl::GridProjection< PointNT >::reconstructPolygons | ( | std::vector< pcl::Vertices > & | polygons | ) | [protected] |
The actual surface reconstruction method.
[out] | polygons | the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices. |
Definition at line 625 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::scaleInputDataPoint | ( | double | scale_factor | ) | [protected] |
When the input data points don't fill into the 1*1*1 box, scale them so that they can be filled in the unit box. Otherwise, it will be some drawing problem when doing visulization.
scale_factor | scale all the input data point by scale_factor |
Definition at line 76 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::setMaxBinarySearchLevel | ( | int | max_binary_search_level | ) | [inline] |
Binary search is used in projection. given a point x, we find another point which is 3*cell_size_ far away from x. Then we do a binary search between these two points to find where the projected point should be.
Definition at line 162 of file grid_projection.h.
void pcl::GridProjection< PointNT >::setNearestNeighborNum | ( | int | k | ) | [inline] |
Set this only when using the k nearest neighbors search instead of finding the point union.
k | The number of nearest neighbors we are looking for |
Definition at line 147 of file grid_projection.h.
void pcl::GridProjection< PointNT >::setPaddingSize | ( | int | padding_size | ) | [inline] |
When averaging the vectors, we find the union of all the input data points within the padding area,and do a weighted average. Say if the padding size is 1, when we process cell (x,y,z), we will find union of input data points from (x-1) to (x+1), (y-1) to (y+1), (z-1) to (z+1)(in total, 27 cells). In this way, even the cells itself doesnt contain any data points, we will stil process it because there are data points in the padding area. This can help us fix holes which is smaller than the padding size.
padding_size | The num of padding cells we want to create |
Definition at line 132 of file grid_projection.h.
void pcl::GridProjection< PointNT >::setResolution | ( | double | resolution | ) | [inline] |
Set the size of the grid cell.
resolution | the size of the grid cell |
Definition at line 111 of file grid_projection.h.
void pcl::GridProjection< PointNT >::storeVectAndSurfacePoint | ( | int | index_1d, |
const Eigen::Vector3i & | index_3d, | ||
std::vector< int > & | pt_union_indices, | ||
const Leaf & | cell_data | ||
) | [protected] |
Go through all the entries in the hash table and update the cellData.
When creating the hash table, the pt_on_surface field store the center point of the cell.After calling this function, the projection operator will project the center point onto the surface, and the pt_on_surface field will be updated using the projected point.Also the vect_at_grid_pt field will be updated using the vector at the upper left front vertex of the cell.
index_1d | the index of the cell after flatting it's 3d index into a 1d array |
index_3d | the index of the cell in (x,y,z) 3d format |
pt_union_indices | the union of input data points within the cell and pads |
cell_data | information stored in the cell |
Definition at line 584 of file grid_projection.hpp.
void pcl::GridProjection< PointNT >::storeVectAndSurfacePointKNN | ( | int | index_1d, |
const Eigen::Vector3i & | index_3d, | ||
const Leaf & | cell_data | ||
) | [protected] |
Go through all the entries in the hash table and update the cellData. When creating the hash table, the pt_on_surface field store the center point of the cell.After calling this function, the projection operator will project the center point onto the surface, and the pt_on_surface field will be updated using the projected point.Also the vect_at_grid_pt field will be updated using the vector at the upper left front vertex of the cell. When projecting the point and calculating the vector, using K nearest neighbors instead of using the union of input data point within the cell and pads.
index_1d | the index of the cell after flatting it's 3d index into a 1d array |
index_3d | the index of the cell in (x,y,z) 3d format |
cell_data | information stored in the cell |
Definition at line 602 of file grid_projection.hpp.
HashMap pcl::GridProjection< PointNT >::cell_hash_map_ [private] |
Map containing the set of leaves.
Definition at line 460 of file grid_projection.h.
PointCloudPtr pcl::GridProjection< PointNT >::data_ [private] |
The point cloud input (XYZ+Normals).
Definition at line 484 of file grid_projection.h.
int pcl::GridProjection< PointNT >::data_size_ [private] |
Data size.
Definition at line 472 of file grid_projection.h.
double pcl::GridProjection< PointNT >::gaussian_scale_ [private] |
Gaussian scale.
Definition at line 469 of file grid_projection.h.
int pcl::GridProjection< PointNT >::k_ [private] |
Number of neighbors (k) to use.
Definition at line 478 of file grid_projection.h.
double pcl::GridProjection< PointNT >::leaf_size_ [private] |
The size of a leaf.
Definition at line 466 of file grid_projection.h.
int pcl::GridProjection< PointNT >::max_binary_search_level_ [private] |
Max binary search level.
Definition at line 475 of file grid_projection.h.
Eigen::Vector4f pcl::GridProjection< PointNT >::max_p_ [private] |
Definition at line 463 of file grid_projection.h.
Eigen::Vector4f pcl::GridProjection< PointNT >::min_p_ [private] |
Min and max data points.
Definition at line 463 of file grid_projection.h.
boost::dynamic_bitset pcl::GridProjection< PointNT >::occupied_cell_list_ [private] |
Bit map which tells if there is any input data point in the cell.
Definition at line 493 of file grid_projection.h.
int pcl::GridProjection< PointNT >::padding_size_ [private] |
Padding size.
Definition at line 481 of file grid_projection.h.
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > pcl::GridProjection< PointNT >::surface_ [private] |
An array of points which lay on the output surface.
Definition at line 490 of file grid_projection.h.
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::GridProjection< PointNT >::vector_at_data_point_ [private] |
Store the surface normal(vector) at the each input data point.
Definition at line 487 of file grid_projection.h.