The Poisson surface reconstruction algorithm. More...

#include <poisson.h>

Inheritance diagram for pcl::Poisson< PointNT >:

Public Types
typedef pcl::KdTree< PointNT >	KdTree
typedef pcl::KdTree< PointNT >::Ptr	KdTreePtr
typedef pcl::PointCloud < PointNT >::Ptr	PointCloudPtr
Public Member Functions
bool	getConfidence ()
	Get the confidence flag.
int	getDegree ()
	Get the degree parameter.
int	getDepth ()
	Get the depth parameter.
int	getIsoDivide ()
	Get the depth at which a block iso-surface extractor should be used to extract the iso-surface.
bool	getManifold ()
	Get the manifold flag.
bool	getOutputPolygons ()
	Get whether the algorithm outputs a polygon mesh or a triangle mesh.
float	getSamplesPerNode ()
	Get the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.
float	getScale ()
int	getSolverDivide ()
	Get the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.
void	performReconstruction (pcl::PolygonMesh &output)
	Create the surface.
void	performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
	Create the surface.
	Poisson ()
	Constructor that sets all the parameters to working default values.
void	setConfidence (bool confidence)
	Set the confidence flag.
void	setDegree (int degree)
	Set the degree parameter.
void	setDepth (int depth)
	Set the maximum depth of the tree that will be used for surface reconstruction.
void	setIsoDivide (int iso_divide)
	Set the depth at which a block iso-surface extractor should be used to extract the iso-surface.
void	setManifold (bool manifold)
	Set the manifold flag.
void	setOutputPolygons (bool output_polygons)
	Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes).
void	setSamplesPerNode (float samples_per_node)
	Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.
void	setScale (float scale)
	Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.
void	setSolverDivide (int solver_divide)
	Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.
	~Poisson ()
	Destructor.
Protected Member Functions
std::string	getClassName () const
	Class get name method.
Protected Attributes
PointCloudPtr	data_
	The point cloud input (XYZ+Normals).
Private Member Functions
template<int Degree>
void	execute (poisson::CoredMeshData &mesh, poisson::Point3D< float > &translate, float &scale)
Private Attributes
bool	confidence_
int	degree_
int	depth_
int	iso_divide_
int	kernel_depth_
bool	manifold_
bool	no_clip_tree_
bool	no_reset_samples_
bool	output_polygons_
int	refine_
float	samples_per_node_
float	scale_
int	solver_divide_

Detailed Description

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

The Poisson surface reconstruction algorithm.

Note:: Code adapted from Misha Kazhdan: http://www.cs.jhu.edu/~misha/Code/PoissonRecon/; Based on the paper: * Michael Kazhdan, Matthew Bolitho, Hugues Hoppe, "Poisson surface reconstruction", SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing

Author:: Alexandru-Eugen Ichim

Definition at line 55 of file poisson.h.

Member Typedef Documentation

template<typename PointNT>

typedef pcl::KdTree<PointNT> pcl::Poisson< PointNT >::KdTree

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 63 of file poisson.h.

template<typename PointNT>

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

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 64 of file poisson.h.

template<typename PointNT>

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

Reimplemented from pcl::PCLBase< PointNT >.

Definition at line 61 of file poisson.h.

Constructor & Destructor Documentation

template<typename PointNT >

pcl::Poisson< PointNT >::Poisson ( )

Constructor that sets all the parameters to working default values.

Definition at line 63 of file poisson.hpp.

template<typename PointNT >

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

Destructor.

Definition at line 83 of file poisson.hpp.

Member Function Documentation

template<typename PointNT >

template<int Degree>

void pcl::Poisson< PointNT >::execute	(	poisson::CoredMeshData &	mesh,
		poisson::Point3D< float > &	translate,
		float &	scale
	)		`[private]`

Definition at line 89 of file poisson.hpp.

template<typename PointNT>

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

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 206 of file poisson.h.

template<typename PointNT>

bool pcl::Poisson< PointNT >::getConfidence ( ) [inline]

Get the confidence flag.

Definition at line 96 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::getDegree ( ) [inline]

Get the degree parameter.

Definition at line 197 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::getDepth ( ) [inline]

Get the depth parameter.

Definition at line 133 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::getIsoDivide ( ) [inline]

Get the depth at which a block iso-surface extractor should be used to extract the iso-surface.

Definition at line 159 of file poisson.h.

template<typename PointNT>

bool pcl::Poisson< PointNT >::getManifold ( ) [inline]

Get the manifold flag.

Definition at line 108 of file poisson.h.

template<typename PointNT>

bool pcl::Poisson< PointNT >::getOutputPolygons ( ) [inline]

Get whether the algorithm outputs a polygon mesh or a triangle mesh.

Definition at line 119 of file poisson.h.

template<typename PointNT>

float pcl::Poisson< PointNT >::getSamplesPerNode ( ) [inline]

Get the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.

Definition at line 174 of file poisson.h.

template<typename PointNT>

float pcl::Poisson< PointNT >::getScale ( ) [inline]

Get the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.

Definition at line 187 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::getSolverDivide ( ) [inline]

Get the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.

Definition at line 146 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::performReconstruction ( pcl::PolygonMesh & output ) [virtual]

Create the surface.

Parameters:

[out] output the resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

template<typename PointNT >

void pcl::Poisson< PointNT >::performReconstruction	(	pcl::PointCloud< PointNT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)		`[virtual]`

Create the surface.

Parameters:

[out]	points	the vertex positions of the resulting mesh
[out]	polygons	the connectivity of the resulting mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 227 of file poisson.hpp.

template<typename PointNT>

void pcl::Poisson< PointNT >::setConfidence ( bool confidence ) [inline]

Set the confidence flag.

Note:: Enabling this flag tells the reconstructor to use the size of the normals as confidence information. When the flag is not enabled, all normals are normalized to have unit-length prior to reconstruction.

Parameters:

[in] confidence the given flag

Definition at line 92 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::setDegree ( int degree ) [inline]

Set the degree parameter.

Parameters:

[in] degree the given degree

Definition at line 193 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::setDepth ( int depth ) [inline]

Set the maximum depth of the tree that will be used for surface reconstruction.

Note:: Running at depth d corresponds to solving on a voxel grid whose resolution is no larger than 2^d x 2^d x 2^d. Note that since the reconstructor adapts the octree to the sampling density, the specified reconstruction depth is only an upper bound.

Parameters:

[in] depth the depth parameter

Definition at line 129 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::setIsoDivide ( int iso_divide ) [inline]

Set the depth at which a block iso-surface extractor should be used to extract the iso-surface.

Note:: Using this parameter helps reduce the memory overhead at the cost of a small increase in extraction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)

Parameters:

[in] iso_divide the given parameter value

Definition at line 155 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::setManifold ( bool manifold ) [inline]

Set the manifold flag.

Note:: Enabling this flag tells the reconstructor to add the polygon barycenter when triangulating polygons with more than three vertices.

Parameters:

[in] manifold the given flag

Definition at line 104 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::setOutputPolygons ( bool output_polygons ) [inline]

Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes).

Parameters:

[in] output_polygons the given flag

Definition at line 115 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::setSamplesPerNode ( float samples_per_node ) [inline]

Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.

Note:: For noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples, larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.

Parameters:

[in] samples_per_node the given parameter value

Definition at line 168 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::setScale ( float scale ) [inline]

Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.

Parameters:

[in] scale the given parameter value

Definition at line 181 of file poisson.h.

template<typename PointNT>

void pcl::Poisson< PointNT >::setSolverDivide ( int solver_divide ) [inline]

Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.

Note:: Using this parameter helps reduce the memory overhead at the cost of a small increase in reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)

Parameters:

[in] solver_divide the given parameter value

Definition at line 142 of file poisson.h.

Member Data Documentation

template<typename PointNT>

bool pcl::Poisson< PointNT >::confidence_ [private]

Definition at line 211 of file poisson.h.

template<typename PointNT>

PointCloudPtr pcl::Poisson< PointNT >::data_ [protected]

The point cloud input (XYZ+Normals).

Definition at line 202 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::degree_ [private]

Definition at line 220 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::depth_ [private]

Definition at line 215 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::iso_divide_ [private]

Definition at line 217 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::kernel_depth_ [private]

Definition at line 219 of file poisson.h.

template<typename PointNT>

bool pcl::Poisson< PointNT >::manifold_ [private]

Definition at line 212 of file poisson.h.

template<typename PointNT>

bool pcl::Poisson< PointNT >::no_clip_tree_ [private]

Definition at line 210 of file poisson.h.

template<typename PointNT>

bool pcl::Poisson< PointNT >::no_reset_samples_ [private]

Definition at line 209 of file poisson.h.

template<typename PointNT>

bool pcl::Poisson< PointNT >::output_polygons_ [private]

Definition at line 213 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::refine_ [private]

Definition at line 218 of file poisson.h.

template<typename PointNT>

float pcl::Poisson< PointNT >::samples_per_node_ [private]

Definition at line 222 of file poisson.h.

template<typename PointNT>

float pcl::Poisson< PointNT >::scale_ [private]

Definition at line 223 of file poisson.h.

template<typename PointNT>

int pcl::Poisson< PointNT >::solver_divide_ [private]

Definition at line 216 of file poisson.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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