pcl::OrganizedFastMesh< PointInT > Class Template Reference
[Module surface]

Simple triangulation/surface reconstruction for organized point clouds. More...

#include <pcl/surface/organized_fast_mesh.h>

Inheritance diagram for pcl::OrganizedFastMesh< PointInT >:
Inheritance graph
[legend]
Collaboration diagram for pcl::OrganizedFastMesh< PointInT >:
Collaboration graph
[legend]

List of all members.

Public Types

enum  TriangulationType { TRIANGLE_RIGHT_CUT, TRIANGLE_LEFT_CUT, TRIANGLE_ADAPTIVE_CUT, QUAD_MESH }
typedef boost::shared_ptr
< OrganizedFastMesh< PointInT > > 		Ptr
typedef boost::shared_ptr
< const OrganizedFastMesh
< PointInT > > 		ConstPtr
typedef pcl::PointCloud
< PointInT >::Ptr 		PointCloudPtr
typedef std::vector
< pcl::Vertices > 		Polygons

Public Member Functions

 OrganizedFastMesh ()
 Constructor.
virtual ~OrganizedFastMesh ()
 Destructor.
void setMaxEdgeLength (float max_edge_length)
 Set a maximum edge length.
void setTrianglePixelSize (int triangle_size)
 Set the edge length (in pixels) used for constructing the fixed mesh.
void setTrianglePixelSizeRows (int triangle_size)
 Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.
void setTrianglePixelSizeColumns (int triangle_size)
 Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.
void setTriangulationType (TriangulationType type)
 Set the triangulation type (see TriangulationType).
void storeShadowedFaces (bool enable)
 Store shadowed faces or not.

Protected Member Functions

void reconstructPolygons (std::vector< pcl::Vertices > &polygons)
 Perform the actual polygonal reconstruction.
virtual void performReconstruction (std::vector< pcl::Vertices > &polygons)
 Create the surface.
void performReconstruction (pcl::PolygonMesh &output)
 Create the surface.
void addTriangle (int a, int b, int c, int idx, std::vector< pcl::Vertices > &polygons)
 Add a new triangle to the current polygon mesh.
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 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.
bool isShadowed (const PointInT &point_a, const PointInT &point_b)
 Check if a point is shadowed by another point.
bool isValidTriangle (const int &a, const int &b, const int &c)
 Check if a triangle is valid.
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 isShadowedQuad (const int &a, const int &b, const int &c, const int &d)
 Check if a triangle is shadowed.
void makeQuadMesh (std::vector< pcl::Vertices > &polygons)
 Create a quad mesh.
void makeRightCutMesh (std::vector< pcl::Vertices > &polygons)
 Create a right cut mesh.
void makeLeftCutMesh (std::vector< pcl::Vertices > &polygons)
 Create a left cut mesh.
void makeAdaptiveCutMesh (std::vector< pcl::Vertices > &polygons)
 Create an adaptive cut mesh.

Protected Attributes

float max_edge_length_squared_
 max (squared) length of edge
int triangle_pixel_size_rows_
 size of triangle edges (in pixels) for iterating over rows.
int triangle_pixel_size_columns_
 size of triangle edges (in pixels) for iterating over columns
TriangulationType triangulation_type_
 Type of meshing scheme (quads vs.
bool store_shadowed_faces_
 Whether or not shadowed faces are stored, e.g., for exploration.
float cos_angle_tolerance_
 (Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed.

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 (or quad) 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.

References pcl::MeshConstruction< PointInT >::check_tree_.

template<typename PointInT >
virtual pcl::OrganizedFastMesh< PointInT >::~OrganizedFastMesh (  )  [inline, virtual]

Destructor.

Definition at line 99 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 227 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::makeQuadMesh().

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 209 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh(), and pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh().

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 260 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::cos_angle_tolerance_.

Referenced by pcl::OrganizedFastMesh< PointInT >::isShadowedQuad(), and pcl::OrganizedFastMesh< PointInT >::isShadowedTriangle().

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 325 of file organized_fast_mesh.h.

References pcl::PCLBase< PointInT >::input_, and pcl::OrganizedFastMesh< PointInT >::isShadowed().

Referenced by pcl::OrganizedFastMesh< PointInT >::makeQuadMesh().

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 294 of file organized_fast_mesh.h.

References pcl::PCLBase< PointInT >::input_, and pcl::OrganizedFastMesh< PointInT >::isShadowed().

Referenced by pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh(), and pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh().

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 309 of file organized_fast_mesh.h.

References pcl::PCLBase< PointInT >::input_, and pcl::isFinite().

Referenced by pcl::OrganizedFastMesh< PointInT >::makeQuadMesh().

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 280 of file organized_fast_mesh.h.

References pcl::PCLBase< PointInT >::input_, and pcl::isFinite().

Referenced by pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh(), and pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh ( std::vector< pcl::Vertices > &  polygons  )  [inline, protected]

Create an adaptive cut mesh.

Parameters:
[out] polygons the resultant mesh

Definition at line 209 of file organized_fast_mesh.hpp.

References pcl::OrganizedFastMesh< PointInT >::addTriangle(), pcl::PCLBase< PointInT >::input_, pcl::OrganizedFastMesh< PointInT >::isShadowedTriangle(), pcl::OrganizedFastMesh< PointInT >::isValidTriangle(), pcl::OrganizedFastMesh< PointInT >::store_shadowed_faces_, pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_columns_, and pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_rows_.

Referenced by pcl::OrganizedFastMesh< PointInT >::reconstructPolygons().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh ( std::vector< pcl::Vertices > &  polygons  )  [inline, protected]

Create a left cut mesh.

Parameters:
[out] polygons the resultant mesh

Definition at line 168 of file organized_fast_mesh.hpp.

References pcl::OrganizedFastMesh< PointInT >::addTriangle(), pcl::PCLBase< PointInT >::input_, pcl::OrganizedFastMesh< PointInT >::isShadowedTriangle(), pcl::OrganizedFastMesh< PointInT >::isValidTriangle(), pcl::OrganizedFastMesh< PointInT >::store_shadowed_faces_, pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_columns_, and pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_rows_.

Referenced by pcl::OrganizedFastMesh< PointInT >::reconstructPolygons().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::makeQuadMesh ( std::vector< pcl::Vertices > &  polygons  )  [inline, protected]

Create a quad mesh.

Parameters:
[out] polygons the resultant mesh

Definition at line 90 of file organized_fast_mesh.hpp.

References pcl::OrganizedFastMesh< PointInT >::addQuad(), pcl::PCLBase< PointInT >::input_, pcl::OrganizedFastMesh< PointInT >::isShadowedQuad(), pcl::OrganizedFastMesh< PointInT >::isValidQuad(), pcl::OrganizedFastMesh< PointInT >::store_shadowed_faces_, pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_columns_, and pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_rows_.

Referenced by pcl::OrganizedFastMesh< PointInT >::reconstructPolygons().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh ( std::vector< pcl::Vertices > &  polygons  )  [inline, protected]

Create a right cut mesh.

Parameters:
[out] polygons the resultant mesh

Definition at line 127 of file organized_fast_mesh.hpp.

References pcl::OrganizedFastMesh< PointInT >::addTriangle(), pcl::PCLBase< PointInT >::input_, pcl::OrganizedFastMesh< PointInT >::isShadowedTriangle(), pcl::OrganizedFastMesh< PointInT >::isValidTriangle(), pcl::OrganizedFastMesh< PointInT >::store_shadowed_faces_, pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_columns_, and pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_rows_.

Referenced by pcl::OrganizedFastMesh< PointInT >::reconstructPolygons().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::performReconstruction ( pcl::PolygonMesh &  output  )  [inline, 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.

References pcl::PolygonMesh::cloud, pcl::getFieldIndex(), pcl::PCLBase< PointInT >::input_, pcl::isFinite(), pcl::PolygonMesh::polygons, pcl::OrganizedFastMesh< PointInT >::reconstructPolygons(), and pcl::OrganizedFastMesh< PointInT >::resetPointData().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::performReconstruction ( std::vector< pcl::Vertices > &  polygons  )  [inline, 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.

References pcl::OrganizedFastMesh< PointInT >::reconstructPolygons().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::reconstructPolygons ( std::vector< pcl::Vertices > &  polygons  )  [inline, protected]

Perform the actual polygonal reconstruction.

Parameters:
[out] polygons the resultant polygons

Definition at line 76 of file organized_fast_mesh.hpp.

References pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeQuadMesh(), pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh(), pcl::OrganizedFastMesh< PointInT >::QUAD_MESH, pcl::OrganizedFastMesh< PointInT >::TRIANGLE_ADAPTIVE_CUT, pcl::OrganizedFastMesh< PointInT >::TRIANGLE_LEFT_CUT, pcl::OrganizedFastMesh< PointInT >::TRIANGLE_RIGHT_CUT, and pcl::OrganizedFastMesh< PointInT >::triangulation_type_.

Referenced by pcl::OrganizedFastMesh< PointInT >::performReconstruction().

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 246 of file organized_fast_mesh.h.

References pcl::PolygonMesh::cloud, pcl::PCLPointCloud2::data, pcl::PCLPointCloud2::fields, and pcl::PCLPointCloud2::point_step.

Referenced by pcl::OrganizedFastMesh< PointInT >::performReconstruction().

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 105 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::max_edge_length_squared_.

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 115 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSizeColumns(), and pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSizeRows().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSizeColumns ( int  triangle_size  )  [inline]

Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.

Parameters:
[in] triangle_size edge length in pixels (Default: 1 = neighboring pixels are connected)

Definition at line 136 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_columns_.

Referenced by pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSize().

template<typename PointInT >
void pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSizeRows ( int  triangle_size  )  [inline]

Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.

Parameters:
[in] triangle_size edge length in pixels (Default: 1 = neighboring pixels are connected)

Definition at line 126 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_rows_.

Referenced by pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSize().

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 w.r.t. the depth (z) of the points)

Definition at line 146 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::triangulation_type_.

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 155 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::store_shadowed_faces_.

Member Data Documentation

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

(Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed.

Definition at line 177 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::isShadowed().

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

max (squared) length of edge

Definition at line 162 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::setMaxEdgeLength().

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 174 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeQuadMesh(), pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh(), and pcl::OrganizedFastMesh< PointInT >::storeShadowedFaces().

template<typename PointInT >
int pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_columns_ [protected]

size of triangle edges (in pixels) for iterating over columns

Definition at line 168 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeQuadMesh(), pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh(), and pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSizeColumns().

template<typename PointInT >
int pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_rows_ [protected]

size of triangle edges (in pixels) for iterating over rows.

Definition at line 165 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh(), pcl::OrganizedFastMesh< PointInT >::makeQuadMesh(), pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh(), and pcl::OrganizedFastMesh< PointInT >::setTrianglePixelSizeRows().

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

Type of meshing scheme (quads vs.

triangles, left cut vs. right cut ...

Definition at line 171 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::reconstructPolygons(), and pcl::OrganizedFastMesh< PointInT >::setTriangulationType().

The documentation for this class was generated from the following files:
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends