MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data smoothing and improved normal estimation. More...

#include <pcl/surface/mls.h>

Inheritance diagram for pcl::MovingLeastSquares< PointInT, PointOutT >:

Collaboration diagram for pcl::MovingLeastSquares< PointInT, PointOutT >:

Classes
class	MLSVoxelGrid
	A minimalistic implementation of a voxel grid, necessary for the point cloud upsampling. More...

Public Types
enum	UpsamplingMethod { NONE , DISTINCT_CLOUD , SAMPLE_LOCAL_PLANE , RANDOM_UNIFORM_DENSITY , VOXEL_GRID_DILATION }

using	Ptr = shared_ptr< MovingLeastSquares< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const MovingLeastSquares< PointInT, PointOutT > >

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

using	KdTreePtr = typename KdTree::Ptr

using	NormalCloud = pcl::PointCloud< pcl::Normal >

using	NormalCloudPtr = NormalCloud::Ptr

using	PointCloudOut = pcl::PointCloud< PointOutT >

using	PointCloudOutPtr = typename PointCloudOut::Ptr

using	PointCloudOutConstPtr = typename PointCloudOut::ConstPtr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	SearchMethod = std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT >
using	Ptr = shared_ptr< CloudSurfaceProcessing< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const CloudSurfaceProcessing< PointInT, PointOutT > >

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
	MovingLeastSquares ()
	Empty constructor. More...

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

void	setComputeNormals (bool compute_normals)
	Set whether the algorithm should also store the normals computed. More...

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

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

void	setPolynomialOrder (int order)
	Set the order of the polynomial to be fit. More...

int	getPolynomialOrder () const
	Get the order of the polynomial to be fit. More...

void	setSearchRadius (double radius)
	Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting. More...

double	getSearchRadius () const
	Get the sphere radius used for determining the k-nearest neighbors. More...

void	setSqrGaussParam (double sqr_gauss_param)
	Set the parameter used for distance based weighting of neighbors (the square of the search radius works best in general). More...

double	getSqrGaussParam () const
	Get the parameter for distance based weighting of neighbors. More...

void	setUpsamplingMethod (UpsamplingMethod method)
	Set the upsampling method to be used. More...

void	setDistinctCloud (PointCloudInConstPtr distinct_cloud)
	Set the distinct cloud used for the DISTINCT_CLOUD upsampling method. More...

PointCloudInConstPtr	getDistinctCloud () const
	Get the distinct cloud used for the DISTINCT_CLOUD upsampling method. More...

void	setUpsamplingRadius (double radius)
	Set the radius of the circle in the local point plane that will be sampled. More...

double	getUpsamplingRadius () const
	Get the radius of the circle in the local point plane that will be sampled. More...

void	setUpsamplingStepSize (double step_size)
	Set the step size for the local plane sampling. More...

double	getUpsamplingStepSize () const
	Get the step size for the local plane sampling. More...

void	setPointDensity (int desired_num_points_in_radius)
	Set the parameter that specifies the desired number of points within the search radius. More...

int	getPointDensity () const
	Get the parameter that specifies the desired number of points within the search radius. More...

void	setDilationVoxelSize (float voxel_size)
	Set the voxel size for the voxel grid. More...

float	getDilationVoxelSize () const
	Get the voxel size for the voxel grid. More...

void	setDilationIterations (int iterations)
	Set the number of dilation steps of the voxel grid. More...

int	getDilationIterations () const
	Get the number of dilation steps of the voxel grid. More...

void	setCacheMLSResults (bool cache_mls_results)
	Set whether the mls results should be stored for each point in the input cloud. More...

bool	getCacheMLSResults () const
	Get the cache_mls_results_ value (True if the mls results should be stored, otherwise false). More...

void	setProjectionMethod (MLSResult::ProjectionMethod method)
	Set the method to be used when projection the point on to the MLS surface. More...

MLSResult::ProjectionMethod	getProjectionMethod () const
	Get the current projection method being used. More...

const std::vector< MLSResult > &	getMLSResults () const
	Get the MLSResults for input cloud. More...

void	setNumberOfThreads (unsigned int threads=1)
	Set the maximum number of threads to use. More...

void	process (PointCloudOut &output) override
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...

PointIndicesPtr	getCorrespondingIndices () const
	Get the set of indices with each point in output having the corresponding point in input. More...

Public Member Functions inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT >
	CloudSurfaceProcessing ()
	Constructor. More...

	~CloudSurfaceProcessing () override=default
	Empty destructor. 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
int	searchForNeighbors (pcl::index_t index, pcl::Indices &indices, std::vector< float > &sqr_distances) const
	Search for the nearest neighbors of a given point using a radius search. More...

void	computeMLSPointNormal (pcl::index_t index, const pcl::Indices &nn_indices, PointCloudOut &projected_points, NormalCloud &projected_points_normals, PointIndices &corresponding_input_indices, MLSResult &mls_result) const
	Smooth a given point and its neighborghood using Moving Least Squares. More...

void	addProjectedPointNormal (pcl::index_t index, const Eigen::Vector3d &point, const Eigen::Vector3d &normal, double curvature, PointCloudOut &projected_points, NormalCloud &projected_points_normals, PointIndices &corresponding_input_indices) const
	This is a helper function for adding projected points. More...

void	copyMissingFields (const PointInT &point_in, PointOutT &point_out) const

void	performProcessing (PointCloudOut &output) override
	Abstract surface reconstruction method. More...

void	performUpsampling (PointCloudOut &output)
	Perform upsampling for the distinct-cloud and voxel-grid methods. 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...

Protected Attributes
NormalCloudPtr	normals_ {nullptr}
	The point cloud that will hold the estimated normals, if set. More...

PointCloudInConstPtr	distinct_cloud_ {nullptr}
	The distinct point cloud that will be projected to the MLS surface. More...

SearchMethod	search_method_
	The search method template for indices. More...

KdTreePtr	tree_ {nullptr}
	A pointer to the spatial search object. More...

int	order_ {2}
	The order of the polynomial to be fit. More...

double	search_radius_ {0.0}
	The nearest neighbors search radius for each point. More...

double	sqr_gauss_param_ {0.0}
	Parameter for distance based weighting of neighbors (search_radius_ * search_radius_ works fine) More...

bool	compute_normals_ {false}
	Parameter that specifies whether the normals should be computed for the input cloud or not. More...

UpsamplingMethod	upsample_method_
	Parameter that specifies the upsampling method to be used. More...

double	upsampling_radius_ {0.0}
	Radius of the circle in the local point plane that will be sampled. More...

double	upsampling_step_ {0.0}
	Step size for the local plane sampling. More...

int	desired_num_points_in_radius_ {0}
	Parameter that specifies the desired number of points within the search radius. More...

bool	cache_mls_results_ {true}
	True if the mls results for the input cloud should be stored. More...

std::vector< MLSResult >	mls_results_ {}
	Stores the MLS result for each point in the input cloud. More...

MLSResult::ProjectionMethod	projection_method_ {MLSResult::SIMPLE}
	Parameter that specifies the projection method to be used. More...

unsigned int	threads_ {1}
	The maximum number of threads the scheduler should use. More...

float	voxel_size_ {1.0f}
	Voxel size for the VOXEL_GRID_DILATION upsampling method. More...

int	dilation_iteration_num_ {0}
	Number of dilation steps for the VOXEL_GRID_DILATION upsampling method. More...

int	nr_coeff_ {0}
	Number of coefficients, to be computed from the requested order. More...

PointIndicesPtr	corresponding_input_indices_ {nullptr}
	Collects for each point in output the corresponding point in the input. 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 PointInT, typename PointOutT>
class pcl::MovingLeastSquares< PointInT, PointOutT >

MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data smoothing and improved normal estimation.

It also contains methods for upsampling the resulting cloud based on the parametric fit. Reference paper: "Computing and Rendering Point Set Surfaces" by Marc Alexa, Johannes Behr, Daniel Cohen-Or, Shachar Fleishman, David Levin and Claudio T. Silva www.sci.utah.edu/~shachar/Publications/crpss.pdf

Note: There is a parallelized version of the processing step, using the OpenMP standard. Compared to the standard version, an overhead is incurred in terms of runtime and memory usage. The upsampling methods DISTINCT_CLOUD and VOXEL_GRID_DILATION are not parallelized completely, i.e. parts of the algorithm run on a single thread only.

Author: Zoltan Csaba Marton, Radu B. Rusu, Alexandru E. Ichim, Suat Gedikli, Robert Huitl

Definition at line 262 of file mls.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::ConstPtr = shared_ptr<const MovingLeastSquares<PointInT, PointOutT> >

Definition at line 266 of file mls.h.

◆ KdTree

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::KdTree = pcl::search::Search<PointInT>

Definition at line 274 of file mls.h.

◆ KdTreePtr

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::KdTreePtr = typename KdTree::Ptr

Definition at line 275 of file mls.h.

◆ NormalCloud

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::NormalCloud = pcl::PointCloud<pcl::Normal>

Definition at line 276 of file mls.h.

◆ NormalCloudPtr

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::NormalCloudPtr = NormalCloud::Ptr

Definition at line 277 of file mls.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 283 of file mls.h.

◆ PointCloudInConstPtr

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 285 of file mls.h.

◆ PointCloudInPtr

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 284 of file mls.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudOut = pcl::PointCloud<PointOutT>

Definition at line 279 of file mls.h.

◆ PointCloudOutConstPtr

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudOutConstPtr = typename PointCloudOut::ConstPtr

Definition at line 281 of file mls.h.

◆ PointCloudOutPtr

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudOutPtr = typename PointCloudOut::Ptr

Definition at line 280 of file mls.h.

◆ Ptr

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::Ptr = shared_ptr<MovingLeastSquares<PointInT, PointOutT> >

Definition at line 265 of file mls.h.

◆ SearchMethod

template<typename PointInT , typename PointOutT >

using pcl::MovingLeastSquares< PointInT, PointOutT >::SearchMethod = std::function<int (pcl::index_t, double, pcl::Indices &, std::vector<float> &)>

Definition at line 287 of file mls.h.

Member Enumeration Documentation

◆ UpsamplingMethod

template<typename PointInT , typename PointOutT >

enum pcl::MovingLeastSquares::UpsamplingMethod

Enumerator
NONE	No upsampling will be done, only the input points will be projected to their own MLS surfaces.
DISTINCT_CLOUD	Project the points of the distinct cloud to the MLS surface.
SAMPLE_LOCAL_PLANE	The local plane of each input point will be sampled in a circular fashion using the upsampling_radius_ and the upsampling_step_ parameters.
RANDOM_UNIFORM_DENSITY	The local plane of each input point will be sampled using an uniform random distribution such that the density of points is constant throughout the cloud - given by the desired_num_points_in_radius_ parameter.
VOXEL_GRID_DILATION	The input cloud will be inserted into a voxel grid with voxels of size voxel_size_; this voxel grid will be dilated dilation_iteration_num_ times and the resulting points will be projected to the MLS surface of the closest point in the input cloud; the result is a point cloud with filled holes and a constant point density.

Definition at line 289 of file mls.h.

Constructor & Destructor Documentation

◆ MovingLeastSquares()

template<typename PointInT , typename PointOutT >

pcl::MovingLeastSquares< PointInT, PointOutT >::MovingLeastSquares ( )

inline

Empty constructor.

Definition at line 307 of file mls.h.

◆ ~MovingLeastSquares()

template<typename PointInT , typename PointOutT >

pcl::MovingLeastSquares< PointInT, PointOutT >::~MovingLeastSquares ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ addProjectedPointNormal()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::addProjectedPointNormal	(	pcl::index_t	index,
		const Eigen::Vector3d &	point,
		const Eigen::Vector3d &	normal,
		double	curvature,
		PointCloudOut &	projected_points,
		NormalCloud &	projected_points_normals,
		PointIndices &	corresponding_input_indices
	)		const

protected

This is a helper function for adding projected points.

Parameters

[in]	index	the index of the query point in the input cloud
[in]	point	the projected point to be added
[in]	normal	the projected point's normal to be added
[in]	curvature	the projected point's curvature
[out]	projected_points	the set of projected points around the query point
[out]	projected_points_normals	the normals corresponding to the projected points
[out]	corresponding_input_indices	the set of indices with each point in output having the corresponding point in input

Definition at line 254 of file mls.hpp.

References pcl::_Normal::curvature, pcl::PointIndices::indices, and pcl::PointCloud< PointT >::push_back().

◆ computeMLSPointNormal()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::computeMLSPointNormal	(	pcl::index_t	index,
		const pcl::Indices &	nn_indices,
		PointCloudOut &	projected_points,
		NormalCloud &	projected_points_normals,
		PointIndices &	corresponding_input_indices,
		MLSResult &	mls_result
	)		const

protected

Smooth a given point and its neighborghood using Moving Least Squares.

Parameters

[in]	index	the index of the query point in the input cloud
[in]	nn_indices	the set of nearest neighbors indices for pt
[out]	projected_points	the set of projected points around the query point (in the case of upsampling method NONE, only the query point projected to its own fitted surface will be returned, in the case of the other upsampling methods, multiple points will be returned)
[out]	projected_points_normals	the normals corresponding to the projected points
[out]	corresponding_input_indices	the set of indices with each point in output having the corresponding point in input
[out]	mls_result	stores the MLS result for each point in the input cloud (used only in the case of VOXEL_GRID_DILATION or DISTINCT_CLOUD upsampling)

Definition at line 176 of file mls.hpp.

References pcl::MLSResult::computeMLSSurface(), pcl::MLSResult::curvature, pcl::MLSResult::MLSProjectionResults::normal, pcl::MLSResult::num_neighbors, pcl::MLSResult::MLSProjectionResults::point, pcl::MLSResult::projectPointSimpleToPolynomialSurface(), pcl::MLSResult::projectPointToMLSPlane(), and pcl::MLSResult::projectQueryPoint().

◆ copyMissingFields()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::copyMissingFields	(	const PointInT &	point_in,
		PointOutT &	point_out
	)		const

protected

Definition at line 866 of file mls.hpp.

References pcl::copyPoint().

◆ getCacheMLSResults()

template<typename PointInT , typename PointOutT >

bool pcl::MovingLeastSquares< PointInT, PointOutT >::getCacheMLSResults ( ) const

inline

Get the cache_mls_results_ value (True if the mls results should be stored, otherwise false).

Definition at line 471 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::cache_mls_results_.

◆ getCorrespondingIndices()

template<typename PointInT , typename PointOutT >

PointIndicesPtr pcl::MovingLeastSquares< PointInT, PointOutT >::getCorrespondingIndices ( ) const

inline

Get the set of indices with each point in output having the corresponding point in input.

Definition at line 511 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::corresponding_input_indices_.

◆ getDilationIterations()

template<typename PointInT , typename PointOutT >

int pcl::MovingLeastSquares< PointInT, PointOutT >::getDilationIterations ( ) const

inline

Get the number of dilation steps of the voxel grid.

Note: Used only in the VOXEL_GRID_DILATION upsampling method

Definition at line 459 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::dilation_iteration_num_.

◆ getDilationVoxelSize()

template<typename PointInT , typename PointOutT >

float pcl::MovingLeastSquares< PointInT, PointOutT >::getDilationVoxelSize ( ) const

inline

Get the voxel size for the voxel grid.

Note: Used only in the VOXEL_GRID_DILATION upsampling method

Definition at line 446 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::voxel_size_.

◆ getDistinctCloud()

template<typename PointInT , typename PointOutT >

PointCloudInConstPtr pcl::MovingLeastSquares< PointInT, PointOutT >::getDistinctCloud ( ) const

inline

Get the distinct cloud used for the DISTINCT_CLOUD upsampling method.

Definition at line 389 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::distinct_cloud_.

◆ getMLSResults()

template<typename PointInT , typename PointOutT >

const std::vector<MLSResult>& pcl::MovingLeastSquares< PointInT, PointOutT >::getMLSResults ( ) const

inline

Get the MLSResults for input cloud.

Note: The results are only stored if setCacheMLSResults(true) was called or when using the upsampling method DISTINCT_CLOUD or VOXEL_GRID_DILATION.; This vector is aligned with the input cloud indices, so use getCorrespondingIndices to get the correct results when using output cloud indices.

Definition at line 490 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::mls_results_.

◆ getPointDensity()

template<typename PointInT , typename PointOutT >

int pcl::MovingLeastSquares< PointInT, PointOutT >::getPointDensity ( ) const

inline

Get the parameter that specifies the desired number of points within the search radius.

Note: Used only in the case of RANDOM_UNIFORM_DENSITY upsampling

Definition at line 432 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::desired_num_points_in_radius_.

◆ getPolynomialOrder()

template<typename PointInT , typename PointOutT >

int pcl::MovingLeastSquares< PointInT, PointOutT >::getPolynomialOrder ( ) const

inline

Get the order of the polynomial to be fit.

Definition at line 353 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::order_.

◆ getProjectionMethod()

template<typename PointInT , typename PointOutT >

MLSResult::ProjectionMethod pcl::MovingLeastSquares< PointInT, PointOutT >::getProjectionMethod ( ) const

inline

Get the current projection method being used.

Definition at line 483 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::projection_method_.

◆ getSearchMethod()

template<typename PointInT , typename PointOutT >

KdTreePtr pcl::MovingLeastSquares< PointInT, PointOutT >::getSearchMethod ( ) const

inline

Get a pointer to the search method used.

Definition at line 342 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::tree_.

◆ getSearchRadius()

template<typename PointInT , typename PointOutT >

double pcl::MovingLeastSquares< PointInT, PointOutT >::getSearchRadius ( ) const

inline

Get the sphere radius used for determining the k-nearest neighbors.

Definition at line 364 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::search_radius_.

◆ getSqrGaussParam()

template<typename PointInT , typename PointOutT >

double pcl::MovingLeastSquares< PointInT, PointOutT >::getSqrGaussParam ( ) const

inline

Get the parameter for distance based weighting of neighbors.

Definition at line 375 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::sqr_gauss_param_.

◆ getUpsamplingRadius()

template<typename PointInT , typename PointOutT >

double pcl::MovingLeastSquares< PointInT, PointOutT >::getUpsamplingRadius ( ) const

inline

Get the radius of the circle in the local point plane that will be sampled.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Definition at line 403 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::upsampling_radius_.

◆ getUpsamplingStepSize()

template<typename PointInT , typename PointOutT >

double pcl::MovingLeastSquares< PointInT, PointOutT >::getUpsamplingStepSize ( ) const

inline

Get the step size for the local plane sampling.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Definition at line 417 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::upsampling_step_.

◆ performProcessing()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::performProcessing ( PointCloudOut & output )

overrideprotectedvirtual

Abstract surface reconstruction method.

Parameters

[out] output the result of the reconstruction

Implements pcl::CloudSurfaceProcessing< PointInT, PointOutT >.

Definition at line 286 of file mls.hpp.

References pcl::PointCloud< PointT >::begin(), pcl::PointCloud< PointT >::end(), pcl::PointCloud< PointT >::insert(), and pcl::PointCloud< PointT >::size().

◆ performUpsampling()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::performUpsampling ( PointCloudOut & output )

protected

Perform upsampling for the distinct-cloud and voxel-grid methods.

Parameters

[out] output the result of the reconstruction

Definition at line 372 of file mls.hpp.

References pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::dilate(), pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getPosition(), pcl::MLSResult::MLSProjectionResults::normal, pcl::MLSResult::MLSProjectionResults::point, and pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_grid_.

◆ process()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::process ( PointCloudOut & output )

overridevirtual

Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>

Parameters

[out] output the resultant reconstructed surface model

Reimplemented from pcl::CloudSurfaceProcessing< PointInT, PointOutT >.

Definition at line 63 of file mls.hpp.

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

◆ searchForNeighbors()

template<typename PointInT , typename PointOutT >

int pcl::MovingLeastSquares< PointInT, PointOutT >::searchForNeighbors	(	pcl::index_t	index,
		pcl::Indices &	indices,
		std::vector< float > &	sqr_distances
	)		const

inlineprotected

Search for the nearest neighbors of a given point using a radius search.

Parameters

[in]	index	the index of the query point
[out]	indices	the resultant vector of indices representing the neighbors within search_radius_
[out]	sqr_distances	the resultant squared distances from the query point to the neighbors within search_radius_

Definition at line 649 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::search_method_, and pcl::MovingLeastSquares< PointInT, PointOutT >::search_radius_.

◆ setCacheMLSResults()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setCacheMLSResults ( bool cache_mls_results )

inline

Set whether the mls results should be stored for each point in the input cloud.

Parameters

[in] cache_mls_results True if the mls results should be stored, otherwise false.

Note: The cache_mls_results_ is forced to be true when using upsampling method VOXEL_GRID_DILATION or DISTINCT_CLOUD.; If memory consumption is a concern, then set it to false when not using upsampling method VOXEL_GRID_DILATION or DISTINCT_CLOUD.

Definition at line 467 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::cache_mls_results_.

◆ setComputeNormals()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setComputeNormals ( bool compute_normals )

inline

Set whether the algorithm should also store the normals computed.

Note: This is optional, but need a proper output cloud type

Definition at line 324 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::compute_normals_.

◆ setDilationIterations()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setDilationIterations ( int iterations )

inline

Set the number of dilation steps of the voxel grid.

Note: Used only in the VOXEL_GRID_DILATION upsampling method

Parameters

[in] iterations the number of dilation iterations

Definition at line 453 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::dilation_iteration_num_.

◆ setDilationVoxelSize()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setDilationVoxelSize ( float voxel_size )

inline

Set the voxel size for the voxel grid.

Note: Used only in the VOXEL_GRID_DILATION upsampling method

Parameters

[in] voxel_size the edge length of a cubic voxel in the voxel grid

Definition at line 439 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::voxel_size_.

◆ setDistinctCloud()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setDistinctCloud ( PointCloudInConstPtr distinct_cloud )

inline

Set the distinct cloud used for the DISTINCT_CLOUD upsampling method.

Definition at line 385 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::distinct_cloud_.

◆ setNumberOfThreads()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setNumberOfThreads ( unsigned int threads = 1 )

inline

Set the maximum number of threads to use.

Parameters

threads the maximum number of hardware threads to use (0 sets the value to 1)

Definition at line 496 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::threads_.

◆ setPointDensity()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setPointDensity ( int desired_num_points_in_radius )

inline

Set the parameter that specifies the desired number of points within the search radius.

Note: Used only in the case of RANDOM_UNIFORM_DENSITY upsampling

Parameters

[in] desired_num_points_in_radius the desired number of points in the output cloud in a sphere of radius search_radius_ around each point

Definition at line 425 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::desired_num_points_in_radius_.

◆ setPolynomialOrder()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setPolynomialOrder ( int order )

inline

Set the order of the polynomial to be fit.

Parameters

[in] order the order of the polynomial

Note: Setting order > 1 indicates using a polynomial fit.

Definition at line 349 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::order_.

◆ setProjectionMethod()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setProjectionMethod ( MLSResult::ProjectionMethod method )

inline

Set the method to be used when projection the point on to the MLS surface.

Parameters

method

Note: This is only used when polynomial fit is enabled.

Definition at line 478 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::projection_method_.

◆ setSearchMethod()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree )

inline

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 330 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::search_method_, and pcl::MovingLeastSquares< PointInT, PointOutT >::tree_.

◆ setSearchRadius()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setSearchRadius ( double radius )

inline

Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting.

Parameters

[in] radius the sphere radius that is to contain all k-nearest neighbors

Note: Calling this method resets the squared Gaussian parameter to radius * radius !

Definition at line 360 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::search_radius_, and pcl::MovingLeastSquares< PointInT, PointOutT >::sqr_gauss_param_.

◆ setSqrGaussParam()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setSqrGaussParam ( double sqr_gauss_param )

inline

Set the parameter used for distance based weighting of neighbors (the square of the search radius works best in general).

Parameters

[in] sqr_gauss_param the squared Gaussian parameter

Definition at line 371 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::sqr_gauss_param_.

◆ setUpsamplingMethod()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingMethod ( UpsamplingMethod method )

inline

Set the upsampling method to be used.

Parameters

method

Definition at line 381 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::upsample_method_.

◆ setUpsamplingRadius()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingRadius ( double radius )

inline

Set the radius of the circle in the local point plane that will be sampled.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Parameters

[in] radius the radius of the circle

Definition at line 397 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::upsampling_radius_.

◆ setUpsamplingStepSize()

template<typename PointInT , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingStepSize ( double step_size )

inline

Set the step size for the local plane sampling.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Parameters

[in] step_size the step size

Definition at line 410 of file mls.h.

References pcl::MovingLeastSquares< PointInT, PointOutT >::upsampling_step_.

Member Data Documentation

◆ cache_mls_results_

template<typename PointInT , typename PointOutT >

bool pcl::MovingLeastSquares< PointInT, PointOutT >::cache_mls_results_ {true}

protected

True if the mls results for the input cloud should be stored.

Note: This is forced to be true when using upsampling methods VOXEL_GRID_DILATION or DISTINCT_CLOUD.

Definition at line 559 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getCacheMLSResults(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setCacheMLSResults().

◆ compute_normals_

template<typename PointInT , typename PointOutT >

bool pcl::MovingLeastSquares< PointInT, PointOutT >::compute_normals_ {false}

protected

Parameter that specifies whether the normals should be computed for the input cloud or not.

Definition at line 536 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::setComputeNormals().

◆ corresponding_input_indices_

template<typename PointInT , typename PointOutT >

PointIndicesPtr pcl::MovingLeastSquares< PointInT, PointOutT >::corresponding_input_indices_ {nullptr}

protected

Collects for each point in output the corresponding point in the input.

Definition at line 641 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getCorrespondingIndices().

◆ desired_num_points_in_radius_

template<typename PointInT , typename PointOutT >

int pcl::MovingLeastSquares< PointInT, PointOutT >::desired_num_points_in_radius_ {0}

protected

Parameter that specifies the desired number of points within the search radius.

Note: Used only in the case of RANDOM_UNIFORM_DENSITY upsampling

Definition at line 554 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getPointDensity(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setPointDensity().

◆ dilation_iteration_num_

template<typename PointInT , typename PointOutT >

int pcl::MovingLeastSquares< PointInT, PointOutT >::dilation_iteration_num_ {0}

protected

Number of dilation steps for the VOXEL_GRID_DILATION upsampling method.

Definition at line 635 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getDilationIterations(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setDilationIterations().

◆ distinct_cloud_

template<typename PointInT , typename PointOutT >

PointCloudInConstPtr pcl::MovingLeastSquares< PointInT, PointOutT >::distinct_cloud_ {nullptr}

protected

The distinct point cloud that will be projected to the MLS surface.

Definition at line 518 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getDistinctCloud(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setDistinctCloud().

◆ mls_results_

template<typename PointInT , typename PointOutT >

std::vector<MLSResult> pcl::MovingLeastSquares< PointInT, PointOutT >::mls_results_ {}

protected

Stores the MLS result for each point in the input cloud.

Note: Used only in the case of VOXEL_GRID_DILATION or DISTINCT_CLOUD upsampling

Definition at line 564 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getMLSResults().

◆ normals_

template<typename PointInT , typename PointOutT >

NormalCloudPtr pcl::MovingLeastSquares< PointInT, PointOutT >::normals_ {nullptr}

protected

The point cloud that will hold the estimated normals, if set.

Definition at line 515 of file mls.h.

◆ nr_coeff_

template<typename PointInT , typename PointOutT >

int pcl::MovingLeastSquares< PointInT, PointOutT >::nr_coeff_ {0}

protected

Number of coefficients, to be computed from the requested order.

Definition at line 638 of file mls.h.

◆ order_

template<typename PointInT , typename PointOutT >

int pcl::MovingLeastSquares< PointInT, PointOutT >::order_ {2}

protected

The order of the polynomial to be fit.

Definition at line 527 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getPolynomialOrder(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setPolynomialOrder().

◆ projection_method_

template<typename PointInT , typename PointOutT >

MLSResult::ProjectionMethod pcl::MovingLeastSquares< PointInT, PointOutT >::projection_method_ {MLSResult::SIMPLE}

protected

Parameter that specifies the projection method to be used.

Definition at line 567 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getProjectionMethod(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setProjectionMethod().

◆ search_method_

template<typename PointInT , typename PointOutT >

SearchMethod pcl::MovingLeastSquares< PointInT, PointOutT >::search_method_

protected

The search method template for indices.

Definition at line 521 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::searchForNeighbors(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setSearchMethod().

◆ search_radius_

template<typename PointInT , typename PointOutT >

double pcl::MovingLeastSquares< PointInT, PointOutT >::search_radius_ {0.0}

protected

The nearest neighbors search radius for each point.

Definition at line 530 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getSearchRadius(), pcl::MovingLeastSquares< PointInT, PointOutT >::searchForNeighbors(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setSearchRadius().

◆ sqr_gauss_param_

template<typename PointInT , typename PointOutT >

double pcl::MovingLeastSquares< PointInT, PointOutT >::sqr_gauss_param_ {0.0}

protected

Parameter for distance based weighting of neighbors (search_radius_ * search_radius_ works fine)

Definition at line 533 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getSqrGaussParam(), pcl::MovingLeastSquares< PointInT, PointOutT >::setSearchRadius(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setSqrGaussParam().

◆ threads_

template<typename PointInT , typename PointOutT >

unsigned int pcl::MovingLeastSquares< PointInT, PointOutT >::threads_ {1}

protected

The maximum number of threads the scheduler should use.

Definition at line 570 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::setNumberOfThreads().

◆ tree_

template<typename PointInT , typename PointOutT >

KdTreePtr pcl::MovingLeastSquares< PointInT, PointOutT >::tree_ {nullptr}

protected

A pointer to the spatial search object.

Definition at line 524 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getSearchMethod(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setSearchMethod().

◆ upsample_method_

template<typename PointInT , typename PointOutT >

UpsamplingMethod pcl::MovingLeastSquares< PointInT, PointOutT >::upsample_method_

protected

Parameter that specifies the upsampling method to be used.

Definition at line 539 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingMethod().

◆ upsampling_radius_

template<typename PointInT , typename PointOutT >

double pcl::MovingLeastSquares< PointInT, PointOutT >::upsampling_radius_ {0.0}

protected

Radius of the circle in the local point plane that will be sampled.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Definition at line 544 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getUpsamplingRadius(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingRadius().

◆ upsampling_step_

template<typename PointInT , typename PointOutT >

double pcl::MovingLeastSquares< PointInT, PointOutT >::upsampling_step_ {0.0}

protected

Step size for the local plane sampling.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Definition at line 549 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getUpsamplingStepSize(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingStepSize().

◆ voxel_size_

template<typename PointInT , typename PointOutT >

float pcl::MovingLeastSquares< PointInT, PointOutT >::voxel_size_ {1.0f}

protected

Voxel size for the VOXEL_GRID_DILATION upsampling method.

Definition at line 632 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::getDilationVoxelSize(), and pcl::MovingLeastSquares< PointInT, PointOutT >::setDilationVoxelSize().

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

pcl/surface/mls.h
pcl/surface/impl/mls.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::MovingLeastSquares< PointInT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ KdTree

◆ KdTreePtr

◆ NormalCloud

◆ NormalCloudPtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

◆ PointCloudOut

◆ PointCloudOutConstPtr

◆ PointCloudOutPtr

◆ Ptr

◆ SearchMethod

Member Enumeration Documentation

◆ UpsamplingMethod

Constructor & Destructor Documentation

◆ MovingLeastSquares()

◆ ~MovingLeastSquares()

Member Function Documentation

◆ addProjectedPointNormal()

◆ computeMLSPointNormal()

◆ copyMissingFields()

◆ getCacheMLSResults()

◆ getCorrespondingIndices()

◆ getDilationIterations()

◆ getDilationVoxelSize()

◆ getDistinctCloud()

◆ getMLSResults()

◆ getPointDensity()

◆ getPolynomialOrder()

◆ getProjectionMethod()

◆ getSearchMethod()

◆ getSearchRadius()

◆ getSqrGaussParam()

◆ getUpsamplingRadius()

◆ getUpsamplingStepSize()

◆ performProcessing()

◆ performUpsampling()

◆ process()

◆ searchForNeighbors()

◆ setCacheMLSResults()

◆ setComputeNormals()

◆ setDilationIterations()

◆ setDilationVoxelSize()

◆ setDistinctCloud()

◆ setNumberOfThreads()

◆ setPointDensity()

◆ setPolynomialOrder()

◆ setProjectionMethod()

◆ setSearchMethod()

◆ setSearchRadius()

◆ setSqrGaussParam()

◆ setUpsamplingMethod()

◆ setUpsamplingRadius()

◆ setUpsamplingStepSize()

Member Data Documentation

◆ cache_mls_results_

◆ compute_normals_

◆ corresponding_input_indices_

◆ desired_num_points_in_radius_

◆ dilation_iteration_num_

◆ distinct_cloud_

◆ mls_results_

◆ normals_

◆ nr_coeff_

◆ order_

◆ projection_method_

◆ search_method_

◆ search_radius_

◆ sqr_gauss_param_

◆ threads_

◆ tree_

template<typename PointInT, typename PointOutT>
class pcl::MovingLeastSquares< PointInT, PointOutT >