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

#include <organized_fast_mesh.h>

Inheritance diagram for pcl::OrganizedFastMesh< PointInT >:

[legend]

List of all members.

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
	OrganizedFastMesh ()
	Constructor. Triangulation type defaults to QUAD_MESH.
void	setMaxEdgeLength (float max_edge_length)
	Set a maximum edge length. TODO: Implement!
void	setTrianglePixelSize (int triangle_size)
	Set the edge length (in pixels) used for constructing the fixed mesh.
void	setTriangulationType (TriangulationType type)
	Set the triangulation type (see TriangulationType)
void	storeShadowedFaces (bool enable)
	Store shadowed faces or not.
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_
float	max_edge_length_squared_
	max (squared) length of edge
bool	store_shadowed_faces_
	Whether or not shadowed faces are stored, e.g., for exploration.
int	triangle_pixel_size_
	size of triangle endges (in pixels)
TriangulationType	triangulation_type_
	Type of meshin scheme (quads vs. triangles, left cut vs. right cut ...

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 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

Reimplemented from pcl::MeshConstruction< PointInT >.

Definition at line 69 of file organized_fast_mesh.h.

template<typename PointInT>

typedef pcl::PointCloud<PointInT>::Ptr pcl::OrganizedFastMesh< PointInT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointInT >.

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

Reimplemented from pcl::MeshConstruction< PointInT >.

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 98 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 201 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 183 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 234 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 299 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 268 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 283 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 254 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 209 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 168 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 90 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 127 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.

Implements pcl::MeshConstruction< PointInT >.

Definition at line 69 of file organized_fast_mesh.hpp.

template<typename PointInT >

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

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

Implements pcl::MeshConstruction< PointInT >.

Definition at line 48 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 76 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 220 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::OrganizedFastMesh< PointInT >::setMaxEdgeLength ( float max_edge_length ) [inline]

Set a maximum edge length. TODO: Implement!

Parameters:

[in] max_edge_length the maximum edge length

Definition at line 104 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 114 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 wrt. the depth (z) of the points)

Definition at line 124 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 133 of file organized_fast_mesh.h.

Member Data Documentation

template<typename PointInT>

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

Definition at line 151 of file organized_fast_mesh.h.

template<typename PointInT>

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

max (squared) length of edge

Definition at line 140 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 149 of file organized_fast_mesh.h.

template<typename PointInT>

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

size of triangle endges (in pixels)

Definition at line 143 of file organized_fast_mesh.h.

template<typename PointInT>

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

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

Definition at line 146 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 >