Grid projection surface reconstruction method. More...

#include <pcl/surface/grid_projection.h>

Inheritance diagram for pcl::GridProjection< PointNT >:

Collaboration diagram for pcl::GridProjection< PointNT >:

Classes
struct	Leaf
	Data leaf. More...

Public Types
using	Ptr = shared_ptr< GridProjection< PointNT > >

using	ConstPtr = shared_ptr< const GridProjection< PointNT > >

using	PointCloudPtr = typename pcl::PointCloud< PointNT >::Ptr

using	KdTree = pcl::KdTree< PointNT >

using	KdTreePtr = typename KdTree::Ptr

using	HashMap = std::unordered_map< int, Leaf, std::hash< int >, std::equal_to<>, Eigen::aligned_allocator< std::pair< const int, Leaf > >>

Public Types inherited from pcl::SurfaceReconstruction< PointNT >
using	Ptr = shared_ptr< SurfaceReconstruction< PointNT > >

using	ConstPtr = shared_ptr< const SurfaceReconstruction< PointNT > >

Public Types inherited from pcl::PCLSurfaceBase< PointInT >
using	Ptr = shared_ptr< PCLSurfaceBase< PointInT > >

using	ConstPtr = shared_ptr< const PCLSurfaceBase< PointInT > >

using	KdTree = pcl::search::Search< PointInT >

using	KdTreePtr = typename KdTree::Ptr

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	GridProjection ()
	Constructor. More...

	GridProjection (double in_resolution)
	Constructor. More...

	~GridProjection () override
	Destructor. More...

void	setResolution (double resolution)
	Set the size of the grid cell. More...

double	getResolution () const

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. More...

int	getPaddingSize () const

void	setNearestNeighborNum (int k)
	Set this only when using the k nearest neighbors search instead of finding the point union. More...

int	getNearestNeighborNum () const

void	setMaxBinarySearchLevel (int max_binary_search_level)
	Binary search is used in projection. More...

int	getMaxBinarySearchLevel () const

const HashMap &	getCellHashMap () const

const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &	getVectorAtDataPoint () const

const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &	getSurface () const

Public Member Functions inherited from pcl::SurfaceReconstruction< PointNT >
	SurfaceReconstruction ()=default
	Constructor. More...

	~SurfaceReconstruction () override=default
	Destructor. More...

void	reconstruct (pcl::PolygonMesh &output) override
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...

virtual void	reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...

Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
	PCLSurfaceBase ()
	Empty constructor. More...

	~PCLSurfaceBase () override=default
	Empty destructor. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object. More...

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	getBoundingBox ()
	Get the bounding box for the input data points, also calculating the cell size, and the gaussian scale factor. More...

bool	reconstructPolygons (std::vector< pcl::Vertices > &polygons)
	The actual surface reconstruction method. More...

void	performReconstruction (pcl::PolygonMesh &output) override
	Create the surface. More...

void	performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) override
	Create the surface. More...

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. More...

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. More...

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. More...

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. More...

int	getIndexIn1D (const Eigen::Vector3i &index) const
	Given an index (x, y, z) in 3d, translate it into the index in 1d. More...

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. More...

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. More...

void	getDataPtsUnion (const Eigen::Vector3i &index, pcl::Indices &pt_union_indices)
	Obtain the index of a cell and the pad size. More...

void	createSurfaceForCell (const Eigen::Vector3i &index, pcl::Indices &pt_union_indices)
	Given the index of a cell, exam it's up, left, front edges, and add the vertices 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. More...

void	getProjection (const Eigen::Vector4f &p, pcl::Indices &pt_union_indices, Eigen::Vector4f &projection)
	Given the coordinates of one point, project it onto the surface, return the projected point. More...

void	getProjectionWithPlaneFit (const Eigen::Vector4f &p, pcl::Indices &pt_union_indices, Eigen::Vector4f &projection)
	Given the coordinates of one point, project it onto the surface, return the projected point. More...

void	getVectorAtPoint (const Eigen::Vector4f &p, pcl::Indices &pt_union_indices, Eigen::Vector3f &vo)
	Given the location of a point, get it's vector. More...

void	getVectorAtPointKNN (const Eigen::Vector4f &p, pcl::Indices &k_indices, std::vector< float > &k_squared_distances, Eigen::Vector3f &vo)
	Given the location of a point, get it's vector. More...

double	getMagAtPoint (const Eigen::Vector4f &p, const pcl::Indices &pt_union_indices)
	Get the magnitude of the vector by summing up the distance. More...

double	getD1AtPoint (const Eigen::Vector4f &p, const Eigen::Vector3f &vec, const pcl::Indices &pt_union_indices)
	Get the 1st derivative. More...

double	getD2AtPoint (const Eigen::Vector4f &p, const Eigen::Vector3f &vec, const pcl::Indices &pt_union_indices)
	Get the 2nd derivative. More...

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, pcl::Indices &pt_union_indices)
	Test whether the edge is intersected by the surface by doing the dot product of the vector at two end points. More...

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, pcl::Indices &pt_union_indices, Eigen::Vector4f &intersection)
	Find point where the edge intersects the surface. More...

void	storeVectAndSurfacePoint (int index_1d, const Eigen::Vector3i &index_3d, pcl::Indices &pt_union_indices, const Leaf &cell_data)
	Go through all the entries in the hash table and update the cellData. More...

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. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Additional Inherited Members
Protected Attributes inherited from pcl::SurfaceReconstruction< PointNT >
bool	check_tree_
	A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More...

Protected Attributes inherited from pcl::PCLSurfaceBase< PointInT >
KdTreePtr	tree_
	A pointer to the spatial search object. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

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 75 of file grid_projection.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointNT >

using pcl::GridProjection< PointNT >::ConstPtr = shared_ptr<const GridProjection<PointNT> >

Definition at line 79 of file grid_projection.h.

◆ HashMap

template<typename PointNT >

using pcl::GridProjection< PointNT >::HashMap = std::unordered_map<int, Leaf, std::hash<int>, std::equal_to<>, Eigen::aligned_allocator<std::pair<const int, Leaf> >>

Definition at line 99 of file grid_projection.h.

◆ KdTree

template<typename PointNT >

using pcl::GridProjection< PointNT >::KdTree = pcl::KdTree<PointNT>

Definition at line 86 of file grid_projection.h.

◆ KdTreePtr

template<typename PointNT >

using pcl::GridProjection< PointNT >::KdTreePtr = typename KdTree::Ptr

Definition at line 87 of file grid_projection.h.

◆ PointCloudPtr

template<typename PointNT >

using pcl::GridProjection< PointNT >::PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr

Definition at line 84 of file grid_projection.h.

◆ Ptr

template<typename PointNT >

using pcl::GridProjection< PointNT >::Ptr = shared_ptr<GridProjection<PointNT> >

Definition at line 78 of file grid_projection.h.

Constructor & Destructor Documentation

◆ GridProjection() [1/2]

template<typename PointNT >

pcl::GridProjection< PointNT >::GridProjection

Constructor.

Definition at line 49 of file grid_projection.hpp.

◆ GridProjection() [2/2]

template<typename PointNT >

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

Constructor.

Parameters

in_resolution set the resolution of the grid

Definition at line 56 of file grid_projection.hpp.

◆ ~GridProjection()

template<typename PointNT >

pcl::GridProjection< PointNT >::~GridProjection

override

Destructor.

Definition at line 63 of file grid_projection.hpp.

Member Function Documentation

◆ createSurfaceForCell()

template<typename PointNT >

void pcl::GridProjection< PointNT >::createSurfaceForCell	(	const Eigen::Vector3i &	index,
		pcl::Indices &	pt_union_indices
	)

protected

Given the index of a cell, exam it's up, left, front edges, and add the vertices 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 174 of file grid_projection.hpp.

References pcl::I_SHIFT_EDGE, and pcl::I_SHIFT_PT.

◆ fillPad()

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 555 of file grid_projection.hpp.

◆ findIntersection()

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,
		pcl::Indices &	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 507 of file grid_projection.hpp.

◆ getBoundingBox()

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 87 of file grid_projection.hpp.

References pcl::getMinMax3D().

◆ getCellCenterFromIndex()

template<typename PointNT >

void pcl::GridProjection< PointNT >::getCellCenterFromIndex	(	const Eigen::Vector3i &	index,
		Eigen::Vector4f &	center
	)		const

inlineprotected

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 261 of file grid_projection.h.

◆ getCellHashMap()

template<typename PointNT >

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

inline

Definition at line 179 of file grid_projection.h.

◆ getCellIndex()

template<typename PointNT >

void pcl::GridProjection< PointNT >::getCellIndex	(	const Eigen::Vector4f &	p,
		Eigen::Vector3i &	index
	)		const

inlineprotected

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 249 of file grid_projection.h.

◆ getD1AtPoint()

template<typename PointNT >

double pcl::GridProjection< PointNT >::getD1AtPoint	(	const Eigen::Vector4f &	p,
		const Eigen::Vector3f &	vec,
		const pcl::Indices &	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 446 of file grid_projection.hpp.

◆ getD2AtPoint()

template<typename PointNT >

double pcl::GridProjection< PointNT >::getD2AtPoint	(	const Eigen::Vector4f &	p,
		const Eigen::Vector3f &	vec,
		const pcl::Indices &	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 459 of file grid_projection.hpp.

◆ getDataPtsUnion()

template<typename PointNT >

void pcl::GridProjection< PointNT >::getDataPtsUnion	(	const Eigen::Vector3i &	index,
		pcl::Indices &	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 148 of file grid_projection.hpp.

◆ getIndexIn1D()

template<typename PointNT >

int pcl::GridProjection< PointNT >::getIndexIn1D ( const Eigen::Vector3i & index ) const

inlineprotected

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 283 of file grid_projection.h.

◆ getIndexIn3D()

template<typename PointNT >

void pcl::GridProjection< PointNT >::getIndexIn3D	(	int	index_1d,
		Eigen::Vector3i &	index_3d
	)		const

inlineprotected

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 296 of file grid_projection.h.

◆ getMagAtPoint()

template<typename PointNT >

double pcl::GridProjection< PointNT >::getMagAtPoint	(	const Eigen::Vector4f &	p,
		const pcl::Indices &	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 430 of file grid_projection.hpp.

References M_E.

◆ getMaxBinarySearchLevel()

template<typename PointNT >

int pcl::GridProjection< PointNT >::getMaxBinarySearchLevel ( ) const

inline

Definition at line 172 of file grid_projection.h.

◆ getNearestNeighborNum()

template<typename PointNT >

int pcl::GridProjection< PointNT >::getNearestNeighborNum ( ) const

inline

Definition at line 157 of file grid_projection.h.

◆ getPaddingSize()

template<typename PointNT >

int pcl::GridProjection< PointNT >::getPaddingSize ( ) const

inline

Definition at line 142 of file grid_projection.h.

◆ getProjection()

template<typename PointNT >

void pcl::GridProjection< PointNT >::getProjection	(	const Eigen::Vector4f &	p,
		pcl::Indices &	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 273 of file grid_projection.hpp.

◆ getProjectionWithPlaneFit()

template<typename PointNT >

void pcl::GridProjection< PointNT >::getProjectionWithPlaneFit	(	const Eigen::Vector4f &	p,
		pcl::Indices &	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 312 of file grid_projection.hpp.

References pcl::computeMeanAndCovarianceMatrix(), pcl::geometry::distance(), and pcl::eigen33().

◆ getResolution()

template<typename PointNT >

double pcl::GridProjection< PointNT >::getResolution ( ) const

inline

Definition at line 122 of file grid_projection.h.

◆ getSurface()

template<typename PointNT >

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

inline

Definition at line 191 of file grid_projection.h.

◆ getVectorAtDataPoint()

template<typename PointNT >

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

inline

Definition at line 185 of file grid_projection.h.

◆ getVectorAtPoint()

template<typename PointNT >

void pcl::GridProjection< PointNT >::getVectorAtPoint	(	const Eigen::Vector4f &	p,
		pcl::Indices &	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.

References pcl::VectorAverage< real, dimension >::add(), pcl::VectorAverage< real, dimension >::getMean(), and M_E.

◆ getVectorAtPointKNN()

template<typename PointNT >

void pcl::GridProjection< PointNT >::getVectorAtPointKNN	(	const Eigen::Vector4f &	p,
		pcl::Indices &	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 396 of file grid_projection.hpp.

References pcl::VectorAverage< real, dimension >::add(), pcl::VectorAverage< real, dimension >::getEigenVector1(), and M_E.

◆ getVertexFromCellCenter()

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 128 of file grid_projection.hpp.

◆ isIntersected()

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,
		pcl::Indices &	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 examining 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 472 of file grid_projection.hpp.

◆ performReconstruction() [1/2]

template<typename PointNT >

void pcl::GridProjection< PointNT >::performReconstruction	(	pcl::PointCloud< PointNT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)

overrideprotectedvirtual

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 747 of file grid_projection.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ performReconstruction() [2/2]

template<typename PointNT >

void pcl::GridProjection< PointNT >::performReconstruction ( pcl::PolygonMesh & output )

overrideprotectedvirtual

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 721 of file grid_projection.hpp.

References pcl::PolygonMesh::cloud, pcl::PolygonMesh::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PolygonMesh::polygons, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), pcl::toPCLPointCloud2(), and pcl::PointCloud< PointT >::width.

◆ reconstructPolygons()

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 619 of file grid_projection.hpp.

References pcl::GridProjection< PointNT >::Leaf::data_indices, pcl::GridProjection< PointNT >::Leaf::pt_on_surface, and pcl::Vertices::vertices.

◆ scaleInputDataPoint()

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 visualization

Parameters

scale_factor scale all the input data point by scale_factor

Definition at line 74 of file grid_projection.hpp.

◆ setMaxBinarySearchLevel()

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 167 of file grid_projection.h.

◆ setNearestNeighborNum()

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 152 of file grid_projection.h.

◆ setPaddingSize()

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 doesn't contain any data points, we will still 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 137 of file grid_projection.h.

◆ setResolution()

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 116 of file grid_projection.h.

◆ storeVectAndSurfacePoint()

template<typename PointNT >

void pcl::GridProjection< PointNT >::storeVectAndSurfacePoint	(	int	index_1d,
		const Eigen::Vector3i &	index_3d,
		pcl::Indices &	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 578 of file grid_projection.hpp.

References pcl::GridProjection< PointNT >::Leaf::pt_on_surface.

◆ storeVectAndSurfacePointKNN()

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 596 of file grid_projection.hpp.

References pcl::GridProjection< PointNT >::Leaf::pt_on_surface.

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

pcl/surface/grid_projection.h
pcl/surface/impl/grid_projection.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ HashMap

◆ KdTree

◆ KdTreePtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ GridProjection() [1/2]

◆ GridProjection() [2/2]

◆ ~GridProjection()

Member Function Documentation

◆ createSurfaceForCell()

◆ fillPad()

◆ findIntersection()

◆ getBoundingBox()

◆ getCellCenterFromIndex()

◆ getCellHashMap()

◆ getCellIndex()

◆ getD1AtPoint()

◆ getD2AtPoint()

◆ getDataPtsUnion()

◆ getIndexIn1D()

◆ getIndexIn3D()

◆ getMagAtPoint()

◆ getMaxBinarySearchLevel()

◆ getNearestNeighborNum()

◆ getPaddingSize()

◆ getProjection()

◆ getProjectionWithPlaneFit()

◆ getResolution()

◆ getSurface()

◆ getVectorAtDataPoint()

◆ getVectorAtPoint()

◆ getVectorAtPointKNN()

◆ getVertexFromCellCenter()

◆ isIntersected()

◆ performReconstruction() [1/2]

◆ performReconstruction() [2/2]

◆ reconstructPolygons()

◆ scaleInputDataPoint()

◆ setMaxBinarySearchLevel()

◆ setNearestNeighborNum()

◆ setPaddingSize()

◆ setResolution()

◆ storeVectAndSurfacePoint()

◆ storeVectAndSurfacePointKNN()

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