Grid projection surface reconstruction method. More...

#include <grid_projection.h>

Inheritance diagram for pcl::GridProjection< PointNT >:

Classes
struct	Leaf
	Data leaf. More...
Public Types
typedef boost::shared_ptr < const GridProjection < PointNT > >	ConstPtr
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
typedef boost::shared_ptr < GridProjection< PointNT > >	Ptr
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 &center) 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 111 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.

Detailed Description

template<typename PointNT>
class pcl::GridProjection< PointNT >

Grid projection surface reconstruction method.

Author:: Rosie Li

Note:

If you use this code in any academic work, please cite:

Ruosi Li, Lu Liu, Ly Phan, Sasakthi Abeysinghe, Cindy Grimm, Tao Ju. Polygonizing extremal surfaces with manifold guarantees. In Proceedings of the 14th ACM Symposium on Solid and Physical Modeling, 2010.

Definition at line 72 of file grid_projection.h.

Member Typedef Documentation

template<typename PointNT>

typedef boost::shared_ptr<const GridProjection<PointNT> > pcl::GridProjection< PointNT >::ConstPtr

Reimplemented from pcl::SurfaceReconstruction< PointNT >.

Definition at line 76 of file grid_projection.h.

template<typename PointNT>

typedef boost::unordered_map<int, Leaf, boost::hash<int>, std::equal_to<int>, Eigen::aligned_allocator<int> > pcl::GridProjection< PointNT >::HashMap

Definition at line 96 of file grid_projection.h.

template<typename PointNT>

typedef pcl::KdTree<PointNT> pcl::GridProjection< PointNT >::KdTree

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 83 of file grid_projection.h.

template<typename PointNT>

typedef pcl::KdTree<PointNT>::Ptr pcl::GridProjection< PointNT >::KdTreePtr

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 84 of file grid_projection.h.

template<typename PointNT>

typedef pcl::PointCloud<PointNT>::Ptr pcl::GridProjection< PointNT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointNT >.

Definition at line 81 of file grid_projection.h.

template<typename PointNT>

typedef boost::shared_ptr<GridProjection<PointNT> > pcl::GridProjection< PointNT >::Ptr

Reimplemented from pcl::SurfaceReconstruction< PointNT >.

Definition at line 75 of file grid_projection.h.

Constructor & Destructor Documentation

template<typename PointNT >

pcl::GridProjection< PointNT >::GridProjection ( )

Constructor.

Definition at line 49 of file grid_projection.hpp.

template<typename PointNT >

pcl::GridProjection< PointNT >::GridProjection ( double in_resolution )

Constructor.

Parameters:

in_resolution set the resolution of the grid

Definition at line 57 of file grid_projection.hpp.

template<typename PointNT >

pcl::GridProjection< PointNT >::~GridProjection ( )

Destructor.

Definition at line 65 of file grid_projection.hpp.

Member Function Documentation

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

Parameters:

index the index of the cell in (x,y,z) format

Definition at line 561 of file grid_projection.hpp.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

template<typename PointNT>

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.

Parameters:

index	the output 3d index
center	the resultant cell center

Definition at line 258 of file grid_projection.h.

template<typename PointNT>

const HashMap& pcl::GridProjection< PointNT >::getCellHashMap ( ) const [inline]

Definition at line 176 of file grid_projection.h.

template<typename PointNT>

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.

Parameters:

p	the coordinate of the input point
index	the output 3d index

Definition at line 246 of file grid_projection.h.

template<typename PointNT>

std::string pcl::GridProjection< PointNT >::getClassName ( ) const [inline, private, virtual]

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 498 of file grid_projection.h.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT>

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.

Parameters:

index the index of the cell in (x,y,z) 3d format

Definition at line 280 of file grid_projection.h.

template<typename PointNT>

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.

Parameters:

index_1d	the input 1d index
index_3d	the output 3d index

Definition at line 293 of file grid_projection.h.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT>

int pcl::GridProjection< PointNT >::getMaxBinarySearchLevel ( ) const [inline]

Definition at line 169 of file grid_projection.h.

template<typename PointNT>

int pcl::GridProjection< PointNT >::getNearestNeighborNum ( ) const [inline]

Definition at line 154 of file grid_projection.h.

template<typename PointNT>

int pcl::GridProjection< PointNT >::getPaddingSize ( ) const [inline]

Definition at line 139 of file grid_projection.h.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

Parameters:

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

Remarks:: iterative weighted least squares or sac might give better results

Definition at line 316 of file grid_projection.hpp.

template<typename PointNT>

double pcl::GridProjection< PointNT >::getResolution ( ) const [inline]

Definition at line 119 of file grid_projection.h.

template<typename PointNT>

const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& pcl::GridProjection< PointNT >::getSurface ( ) const [inline]

Definition at line 188 of file grid_projection.h.

template<typename PointNT>

const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >& pcl::GridProjection< PointNT >::getVectorAtDataPoint ( ) const [inline]

Definition at line 182 of file grid_projection.h.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

Parameters:

cell_center	the coordinates of the cell center
pts	the coordinates of the 8 vertices

Definition at line 131 of file grid_projection.hpp.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

Parameters:

[out] output the resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 729 of file grid_projection.hpp.

template<typename PointNT >

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.

Parameters:

[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.

template<typename PointNT >

bool pcl::GridProjection< PointNT >::reconstructPolygons ( std::vector< pcl::Vertices > & polygons ) [protected]

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.

Definition at line 625 of file grid_projection.hpp.

template<typename PointNT >

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.

Parameters:

scale_factor scale all the input data point by scale_factor

Definition at line 76 of file grid_projection.hpp.

template<typename PointNT>

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 164 of file grid_projection.h.

template<typename PointNT>

void pcl::GridProjection< PointNT >::setNearestNeighborNum ( int k ) [inline]

Set this only when using the k nearest neighbors search instead of finding the point union.

Parameters:

k	The number of nearest neighbors we are looking for

Definition at line 149 of file grid_projection.h.

template<typename PointNT>

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.

Parameters:

padding_size The num of padding cells we want to create

Definition at line 134 of file grid_projection.h.

template<typename PointNT>

void pcl::GridProjection< PointNT >::setResolution ( double resolution ) [inline]

Set the size of the grid cell.

Parameters:

resolution the size of the grid cell

Definition at line 113 of file grid_projection.h.

template<typename PointNT >

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.

Parameters:

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.

template<typename PointNT >

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.

Parameters:

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.

Member Data Documentation

template<typename PointNT>

HashMap pcl::GridProjection< PointNT >::cell_hash_map_ [private]

Map containing the set of leaves.

Definition at line 462 of file grid_projection.h.

template<typename PointNT>

PointCloudPtr pcl::GridProjection< PointNT >::data_ [private]

The point cloud input (XYZ+Normals).

Definition at line 486 of file grid_projection.h.

template<typename PointNT>

int pcl::GridProjection< PointNT >::data_size_ [private]

Data size.

Definition at line 474 of file grid_projection.h.

template<typename PointNT>

double pcl::GridProjection< PointNT >::gaussian_scale_ [private]

Gaussian scale.

Definition at line 471 of file grid_projection.h.

template<typename PointNT>

int pcl::GridProjection< PointNT >::k_ [private]

Number of neighbors (k) to use.

Definition at line 480 of file grid_projection.h.

template<typename PointNT>

double pcl::GridProjection< PointNT >::leaf_size_ [private]

The size of a leaf.

Definition at line 468 of file grid_projection.h.

template<typename PointNT>

int pcl::GridProjection< PointNT >::max_binary_search_level_ [private]

Max binary search level.

Definition at line 477 of file grid_projection.h.

template<typename PointNT>

Eigen::Vector4f pcl::GridProjection< PointNT >::max_p_ [private]

Definition at line 465 of file grid_projection.h.

template<typename PointNT>

Eigen::Vector4f pcl::GridProjection< PointNT >::min_p_ [private]

Min and max data points.

Definition at line 465 of file grid_projection.h.

template<typename PointNT>

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 495 of file grid_projection.h.

template<typename PointNT>

int pcl::GridProjection< PointNT >::padding_size_ [private]

Padding size.

Definition at line 483 of file grid_projection.h.

template<typename PointNT>

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 492 of file grid_projection.h.

template<typename PointNT>

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 489 of file grid_projection.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename PointNT> class pcl::GridProjection< PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointNT>
class pcl::GridProjection< PointNT >