lvr2::LargeScaleReconstruction< BaseVecT > Class Template Reference

#include <LargeScaleReconstruction.hpp>

Public Member Functions
HalfEdgeMesh< BaseVecT >	getPartialReconstruct (BoundingBox< BaseVecT > newChunksBB, std::shared_ptr< ChunkHashGrid > chunkHashGrid, float voxelSize)
	LargeScaleReconstruction ()
	LargeScaleReconstruction (vector< float > voxelSizes, float bgVoxelSize, float scale, uint nodeSize, int partMethod, int ki, int kd, int kn, bool useRansac, std::vector< float > flipPoint, bool extrude, int removeDanglingArtifacts, int cleanContours, int fillHoles, bool optimizePlanes, float getNormalThreshold, int planeIterations, int minPlaneSize, int smallRegionThreshold, bool retesselate, float lineFusionThreshold, bool bigMesh, bool debugChunks, bool useGPU)
	LargeScaleReconstruction (LSROptions options)
int	mpiAndReconstruct (ScanProjectEditMarkPtr project)
int	mpiChunkAndReconstruct (ScanProjectEditMarkPtr project, BoundingBox< BaseVecT > &newChunksBB, std::shared_ptr< ChunkHashGrid > chunkManager)

Private Member Functions
void	addTSDFChunkManager (int x, int y, int z, shared_ptr< lvr2::PointsetGrid< BaseVector< float >, lvr2::FastBox< BaseVector< float >>>> ps_grid, shared_ptr< ChunkHashGrid > cm, std::string layerName)

Private Attributes
float	m_bgVoxelSize
bool	m_bigMesh = true
float	m_chunkSize
int	m_cleanContours
bool	m_debugChunks = false
bool	m_extrude
string	m_filePath
int	m_fillHoles
std::vector< float >	m_flipPoint
int	m_kd
int	m_ki
int	m_kn
float	m_lineFusionThreshold
int	m_minPlaneSize
uint	m_nodeSize
bool	m_optimizePlanes
int	m_partMethod
int	m_planeIterations
float	m_planeNormalThreshold
int	m_removeDanglingArtifacts
bool	m_retesselate
float	m_scale
int	m_smallRegionThreshold
bool	m_useGPU = false
bool	m_useRansac
vector< float >	m_voxelSizes

Detailed Description

template<typename BaseVecT>
class lvr2::LargeScaleReconstruction< BaseVecT >

Definition at line 134 of file LargeScaleReconstruction.hpp.

Constructor & Destructor Documentation

LargeScaleReconstruction() [1/3]

template<typename BaseVecT >

lvr2::LargeScaleReconstruction< BaseVecT >::LargeScaleReconstruction

(

)

Constructor - uses default parameter for reconstruction

LargeScaleReconstruction() [2/3]

template<typename BaseVecT >

lvr2::LargeScaleReconstruction< BaseVecT >::LargeScaleReconstruction	(	vector< float >	voxelSizes,
		float	bgVoxelSize,
		float	scale,
		uint	nodeSize,
		int	partMethod,
		int	ki,
		int	kd,
		int	kn,
		bool	useRansac,
		std::vector< float >	flipPoint,
		bool	extrude,
		int	removeDanglingArtifacts,
		int	cleanContours,
		int	fillHoles,
		bool	optimizePlanes,
		float	getNormalThreshold,
		int	planeIterations,
		int	minPlaneSize,
		int	smallRegionThreshold,
		bool	retesselate,
		float	lineFusionThreshold,
		bool	bigMesh,
		bool	debugChunks,
		bool	useGPU
	)

Constructor with parameters

LargeScaleReconstruction() [3/3]

template<typename BaseVecT >

lvr2::LargeScaleReconstruction< BaseVecT >::LargeScaleReconstruction

(

LSROptions

options

)

Constructor with parameters in a struct

Member Function Documentation

addTSDFChunkManager()

template<typename BaseVecT >

void lvr2::LargeScaleReconstruction< BaseVecT >::addTSDFChunkManager ( int  x, int  y, int  z, shared_ptr< lvr2::PointsetGrid< BaseVector< float >, lvr2::FastBox< BaseVector< float >>>>  ps_grid, shared_ptr< ChunkHashGrid >  cm, std::string  layerName  )

private

This method adds the tsdf-values of one chunk to the ChunkManager-Layer

x, y, z grid-coordinates for the chunk

Parameters

ps_grid	HashGrid which contains the tsdf-values for the voxel
cm	ChunkManager instance which manages the chunks
layerName	the name of the chunkManager-layer

getPartialReconstruct()

template<typename BaseVecT >

HalfEdgeMesh<BaseVecT> lvr2::LargeScaleReconstruction< BaseVecT >::getPartialReconstruct	(	BoundingBox< BaseVecT >	newChunksBB,
		std::shared_ptr< ChunkHashGrid >	chunkHashGrid,
		float	voxelSize
	)

reconstruct a given area (+ neighboring chunks from a chunkmanager) with a given voxelsize

Parameters

newChunksBB	area to be reconstructed
chunkHashGrid	chunkmanager to manage chunks
voxelSize	reconstruction parameter

Returns

reconstructed HalfEdgeMesh<BaseVecT>

mpiAndReconstruct()

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::mpiAndReconstruct

(

ScanProjectEditMarkPtr

project

)

this methods splits the given PointClouds via kd-Tree and calculates all required values for a later reconstruction

Parameters

project

ScanProject containing Scans

Returns

mpiChunkAndReconstruct()

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::mpiChunkAndReconstruct	(	ScanProjectEditMarkPtr	project,
		BoundingBox< BaseVecT > &	newChunksBB,
		std::shared_ptr< ChunkHashGrid >	chunkManager
	)

this method splits the given PointClouds in to Chunks and calculates all required values for a later reconstruction

Parameters

project	ScanProject containing Scans
newChunksBB	sets the Bounding Box of the reconstructed area
chunkManager	a chunkManager to handle chunks

Template Parameters

BaseVecT

Returns

Member Data Documentation

m_bgVoxelSize

template<typename BaseVecT >

float lvr2::LargeScaleReconstruction< BaseVecT >::m_bgVoxelSize

private

Definition at line 224 of file LargeScaleReconstruction.hpp.

m_bigMesh

template<typename BaseVecT >

bool lvr2::LargeScaleReconstruction< BaseVecT >::m_bigMesh = true

private

Definition at line 209 of file LargeScaleReconstruction.hpp.

m_chunkSize

template<typename BaseVecT >

float lvr2::LargeScaleReconstruction< BaseVecT >::m_chunkSize

private

Definition at line 230 of file LargeScaleReconstruction.hpp.

m_cleanContours

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_cleanContours

private

Definition at line 265 of file LargeScaleReconstruction.hpp.

m_debugChunks

template<typename BaseVecT >

bool lvr2::LargeScaleReconstruction< BaseVecT >::m_debugChunks = false

private

Definition at line 212 of file LargeScaleReconstruction.hpp.

m_extrude

template<typename BaseVecT >

bool lvr2::LargeScaleReconstruction< BaseVecT >::m_extrude

private

Definition at line 255 of file LargeScaleReconstruction.hpp.

m_filePath

template<typename BaseVecT >

string lvr2::LargeScaleReconstruction< BaseVecT >::m_filePath

private

Definition at line 218 of file LargeScaleReconstruction.hpp.

m_fillHoles

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_fillHoles

private

Definition at line 268 of file LargeScaleReconstruction.hpp.

m_flipPoint

template<typename BaseVecT >

std::vector<float> lvr2::LargeScaleReconstruction< BaseVecT >::m_flipPoint

private

Definition at line 248 of file LargeScaleReconstruction.hpp.

m_kd

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_kd

private

Definition at line 242 of file LargeScaleReconstruction.hpp.

m_ki

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_ki

private

Definition at line 239 of file LargeScaleReconstruction.hpp.

m_kn

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_kn

private

Definition at line 245 of file LargeScaleReconstruction.hpp.

m_lineFusionThreshold

template<typename BaseVecT >

float lvr2::LargeScaleReconstruction< BaseVecT >::m_lineFusionThreshold

private

Definition at line 289 of file LargeScaleReconstruction.hpp.

m_minPlaneSize

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_minPlaneSize

private

Definition at line 280 of file LargeScaleReconstruction.hpp.

m_nodeSize

template<typename BaseVecT >

uint lvr2::LargeScaleReconstruction< BaseVecT >::m_nodeSize

private

Definition at line 233 of file LargeScaleReconstruction.hpp.

m_optimizePlanes

template<typename BaseVecT >

bool lvr2::LargeScaleReconstruction< BaseVecT >::m_optimizePlanes

private

Definition at line 271 of file LargeScaleReconstruction.hpp.

m_partMethod

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_partMethod

private

Definition at line 236 of file LargeScaleReconstruction.hpp.

m_planeIterations

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_planeIterations

private

Definition at line 277 of file LargeScaleReconstruction.hpp.

m_planeNormalThreshold

template<typename BaseVecT >

float lvr2::LargeScaleReconstruction< BaseVecT >::m_planeNormalThreshold

private

Definition at line 274 of file LargeScaleReconstruction.hpp.

m_removeDanglingArtifacts

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_removeDanglingArtifacts

private

Definition at line 262 of file LargeScaleReconstruction.hpp.

m_retesselate

template<typename BaseVecT >

bool lvr2::LargeScaleReconstruction< BaseVecT >::m_retesselate

private

Definition at line 286 of file LargeScaleReconstruction.hpp.

m_scale

template<typename BaseVecT >

float lvr2::LargeScaleReconstruction< BaseVecT >::m_scale

private

Definition at line 227 of file LargeScaleReconstruction.hpp.

m_smallRegionThreshold

template<typename BaseVecT >

int lvr2::LargeScaleReconstruction< BaseVecT >::m_smallRegionThreshold

private

Definition at line 283 of file LargeScaleReconstruction.hpp.

m_useGPU

template<typename BaseVecT >

bool lvr2::LargeScaleReconstruction< BaseVecT >::m_useGPU = false

private

Definition at line 215 of file LargeScaleReconstruction.hpp.

m_useRansac

template<typename BaseVecT >

bool lvr2::LargeScaleReconstruction< BaseVecT >::m_useRansac

private

Definition at line 251 of file LargeScaleReconstruction.hpp.

m_voxelSizes

template<typename BaseVecT >

vector<float> lvr2::LargeScaleReconstruction< BaseVecT >::m_voxelSizes

private

Definition at line 221 of file LargeScaleReconstruction.hpp.

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

• LargeScaleReconstruction.hpp