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

#include <pcl/surface/organized_fast_mesh.h>

Inheritance diagram for pcl::OrganizedFastMesh< PointInT >:

Collaboration diagram for pcl::OrganizedFastMesh< PointInT >:

Public Types
enum	TriangulationType { TRIANGLE_RIGHT_CUT , TRIANGLE_LEFT_CUT , TRIANGLE_ADAPTIVE_CUT , QUAD_MESH }

using	Ptr = shared_ptr< OrganizedFastMesh< PointInT > >

using	ConstPtr = shared_ptr< const OrganizedFastMesh< PointInT > >

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

using	Polygons = std::vector< pcl::Vertices >

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

using	ConstPtr = shared_ptr< const MeshConstruction< PointInT > >

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
	OrganizedFastMesh ()
	Constructor. More...

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

void	setMaxEdgeLength (float a, float b=0.0f, float c=0.0f)
	Set a maximum edge length. More...

void	unsetMaxEdgeLength ()

void	setTrianglePixelSize (int triangle_size)
	Set the edge length (in pixels) used for constructing the fixed mesh. More...

void	setTrianglePixelSizeRows (int triangle_size)
	Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh. More...

void	setTrianglePixelSizeColumns (int triangle_size)
	Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh. More...

void	setTriangulationType (TriangulationType type)
	Set the triangulation type (see TriangulationType) More...

void	setViewpoint (const Eigen::Vector3f &viewpoint)
	Set the viewpoint from where the input point cloud has been acquired. More...

const Eigen::Vector3f &	getViewpoint () const
	Get the viewpoint from where the input point cloud has been acquired. More...

void	storeShadowedFaces (bool enable)
	Store shadowed faces or not. More...

void	setAngleTolerance (float angle_tolerance)
	Set the angle tolerance used for checking whether or not an edge is occluded. More...

void	setDistanceTolerance (float distance_tolerance, bool depth_dependent=false)

void	useDepthAsDistance (bool enable)
	Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpoint). More...

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

	~MeshConstruction () 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 (std::vector< pcl::Vertices > &polygons)
	Base method for mesh construction 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	reconstructPolygons (std::vector< pcl::Vertices > &polygons)
	Perform the actual polygonal reconstruction. More...

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

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

void	addTriangle (int a, int b, int c, int idx, std::vector< pcl::Vertices > &polygons)
	Add a new triangle to the current polygon mesh. More...

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. More...

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. More...

bool	isShadowed (const PointInT &point_a, const PointInT &point_b)
	Check if a point is shadowed by another point. More...

bool	isValidTriangle (const int &a, const int &b, const int &c)
	Check if a triangle is valid. More...

bool	isShadowedTriangle (const int &a, const int &b, const int &c)
	Check if a triangle is shadowed. More...

bool	isValidQuad (const int &a, const int &b, const int &c, const int &d)
	Check if a quad is valid. More...

bool	isShadowedQuad (const int &a, const int &b, const int &c, const int &d)
	Check if a triangle is shadowed. More...

void	makeQuadMesh (std::vector< pcl::Vertices > &polygons)
	Create a quad mesh. More...

void	makeRightCutMesh (std::vector< pcl::Vertices > &polygons)
	Create a right cut mesh. More...

void	makeLeftCutMesh (std::vector< pcl::Vertices > &polygons)
	Create a left cut mesh. More...

void	makeAdaptiveCutMesh (std::vector< pcl::Vertices > &polygons)
	Create an adaptive cut mesh. More...

Protected Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
virtual std::string	getClassName () const
	Abstract class get name method. 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
float	max_edge_length_a_ {0.0f}
	max length of edge, scalar component More...

float	max_edge_length_b_ {0.0f}
	max length of edge, scalar component More...

float	max_edge_length_c_ {0.0f}
	max length of edge, scalar component More...

bool	max_edge_length_set_ {false}
	flag whether or not edges are limited in length More...

bool	max_edge_length_dist_dependent_ {false}
	flag whether or not max edge length is distance dependent. More...

int	triangle_pixel_size_rows_ {1}
	size of triangle edges (in pixels) for iterating over rows. More...

int	triangle_pixel_size_columns_ {1}
	size of triangle edges (in pixels) for iterating over columns More...

TriangulationType	triangulation_type_ {QUAD_MESH}
	Type of meshing scheme (quads vs. More...

Eigen::Vector3f	viewpoint_ {Eigen::Vector3f::Zero ()}
	Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data). More...

bool	store_shadowed_faces_ {false}
	Whether or not shadowed faces are stored, e.g., for exploration. More...

float	cos_angle_tolerance_ {std::abs (std::cos (pcl::deg2rad (12.5f)))}
	(Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed. More...

float	distance_tolerance_ {-1.0f}
	distance tolerance for filtering out shadowed/occluded edges More...

bool	distance_dependent_ {false}
	flag whether or not distance_tolerance_ is distance dependent (multiplied by the squared distance to the point) or not. More...

bool	use_depth_as_distance_ {false}
	flag whether or not the points' depths are used instead of measured distances (points' distances to the viewpoint). More...

Protected Attributes inherited from pcl::MeshConstruction< PointInT >
bool	check_tree_ {true}
	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 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 66 of file organized_fast_mesh.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT >

using pcl::OrganizedFastMesh< PointInT >::ConstPtr = shared_ptr<const OrganizedFastMesh<PointInT> >

Definition at line 70 of file organized_fast_mesh.h.

◆ PointCloudPtr

template<typename PointInT >

using pcl::OrganizedFastMesh< PointInT >::PointCloudPtr = typename pcl::PointCloud<PointInT>::Ptr

Definition at line 75 of file organized_fast_mesh.h.

◆ Polygons

template<typename PointInT >

using pcl::OrganizedFastMesh< PointInT >::Polygons = std::vector<pcl::Vertices>

Definition at line 77 of file organized_fast_mesh.h.

◆ Ptr

template<typename PointInT >

using pcl::OrganizedFastMesh< PointInT >::Ptr = shared_ptr<OrganizedFastMesh<PointInT> >

Definition at line 69 of file organized_fast_mesh.h.

Member Enumeration Documentation

◆ TriangulationType

template<typename PointInT >

enum pcl::OrganizedFastMesh::TriangulationType

Enumerator
TRIANGLE_RIGHT_CUT
TRIANGLE_LEFT_CUT
TRIANGLE_ADAPTIVE_CUT
QUAD_MESH

Definition at line 79 of file organized_fast_mesh.h.

Constructor & Destructor Documentation

◆ OrganizedFastMesh()

template<typename PointInT >

pcl::OrganizedFastMesh< PointInT >::OrganizedFastMesh ( )

inline

Constructor.

Triangulation type defaults to QUAD_MESH.

Definition at line 88 of file organized_fast_mesh.h.

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

◆ ~OrganizedFastMesh()

template<typename PointInT >

pcl::OrganizedFastMesh< PointInT >::~OrganizedFastMesh ( )

overridedefault

Destructor.

Member Function Documentation

◆ addQuad()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::addQuad	(	int	a,
		int	b,
		int	c,
		int	d,
		int	idx,
		std::vector< pcl::Vertices > &	polygons
	)

inlineprotected

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 305 of file organized_fast_mesh.h.

◆ addTriangle()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::addTriangle	(	int	a,
		int	b,
		int	c,
		int	idx,
		std::vector< pcl::Vertices > &	polygons
	)

inlineprotected

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 287 of file organized_fast_mesh.h.

◆ getViewpoint()

template<typename PointInT >

const Eigen::Vector3f& pcl::OrganizedFastMesh< PointInT >::getViewpoint ( ) const

inline

Get the viewpoint from where the input point cloud has been acquired.

Definition at line 168 of file organized_fast_mesh.h.

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

◆ isShadowed()

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::isShadowed	(	const PointInT &	point_a,
		const PointInT &	point_b
	)

inlineprotected

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 338 of file organized_fast_mesh.h.

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

◆ isShadowedQuad()

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::isShadowedQuad	(	const int &	a,
		const int &	b,
		const int &	c,
		const int &	d
	)

inlineprotected

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 437 of file organized_fast_mesh.h.

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

◆ isShadowedTriangle()

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::isShadowedTriangle	(	const int &	a,
		const int &	b,
		const int &	c
	)

inlineprotected

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 406 of file organized_fast_mesh.h.

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

◆ isValidQuad()

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::isValidQuad	(	const int &	a,
		const int &	b,
		const int &	c,
		const int &	d
	)

inlineprotected

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 421 of file organized_fast_mesh.h.

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

◆ isValidTriangle()

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::isValidTriangle	(	const int &	a,
		const int &	b,
		const int &	c
	)

inlineprotected

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 392 of file organized_fast_mesh.h.

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

◆ makeAdaptiveCutMesh()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::makeAdaptiveCutMesh ( std::vector< pcl::Vertices > & polygons )

protected

Create an adaptive cut mesh.

Parameters

[out] polygons the resultant mesh

Definition at line 218 of file organized_fast_mesh.hpp.

◆ makeLeftCutMesh()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::makeLeftCutMesh ( std::vector< pcl::Vertices > & polygons )

protected

Create a left cut mesh.

Parameters

[out] polygons the resultant mesh

Definition at line 177 of file organized_fast_mesh.hpp.

◆ makeQuadMesh()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::makeQuadMesh ( std::vector< pcl::Vertices > & polygons )

protected

Create a quad mesh.

Parameters

[out] polygons the resultant mesh

Definition at line 99 of file organized_fast_mesh.hpp.

◆ makeRightCutMesh()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::makeRightCutMesh ( std::vector< pcl::Vertices > & polygons )

protected

Create a right cut mesh.

Parameters

[out] polygons the resultant mesh

Definition at line 136 of file organized_fast_mesh.hpp.

◆ performReconstruction() [1/2]

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::performReconstruction ( pcl::PolygonMesh & output )

overrideprotectedvirtual

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 49 of file organized_fast_mesh.hpp.

References pcl::PolygonMesh::cloud, pcl::getFieldIndex(), pcl::isFinite(), and pcl::PolygonMesh::polygons.

◆ performReconstruction() [2/2]

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::performReconstruction ( std::vector< pcl::Vertices > & polygons )

overrideprotectedvirtual

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 74 of file organized_fast_mesh.hpp.

◆ reconstructPolygons()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::reconstructPolygons ( std::vector< pcl::Vertices > & polygons )

protected

Perform the actual polygonal reconstruction.

Parameters

[out] polygons the resultant polygons

Definition at line 85 of file organized_fast_mesh.hpp.

◆ resetPointData()

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`
	)

inlineprotected

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 324 of file organized_fast_mesh.h.

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

◆ setAngleTolerance()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::setAngleTolerance ( float angle_tolerance )

inline

Set the angle tolerance used for checking whether or not an edge is occluded.

Standard values are 5deg to 15deg (input in rad!). Set a value smaller than zero to disable the check for shadowed edges.

Parameters

[in] angle_tolerance Angle tolerance (in rad). Set a value <0 to disable.

Definition at line 188 of file organized_fast_mesh.h.

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

◆ setDistanceTolerance()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::setDistanceTolerance	(	float	distance_tolerance,
		bool	depth_dependent = `false`
	)

inline

Definition at line 197 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::distance_dependent_, and pcl::OrganizedFastMesh< PointInT >::distance_tolerance_.

◆ setMaxEdgeLength()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::setMaxEdgeLength	(	float	a,
		float	b = `0.0f`,
		float	c = `0.0f`
	)

inline

Set a maximum edge length.

Using not only the scalar a, but also b and c, allows for using a distance threshold in the form of: threshold(x) = c*x*x + b*x + a

Parameters

[in]	a	scalar coefficient of the (distance-dependent polynom) threshold
[in]	b	linear coefficient of the (distance-dependent polynom) threshold
[in]	c	quadratic coefficient of the (distance-dependent polynom) threshold

Definition at line 104 of file organized_fast_mesh.h.

References pcl::OrganizedFastMesh< PointInT >::max_edge_length_a_, pcl::OrganizedFastMesh< PointInT >::max_edge_length_b_, pcl::OrganizedFastMesh< PointInT >::max_edge_length_c_, and pcl::OrganizedFastMesh< PointInT >::max_edge_length_set_.

◆ setTrianglePixelSize()

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 123 of file organized_fast_mesh.h.

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

◆ setTrianglePixelSizeColumns()

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 144 of file organized_fast_mesh.h.

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

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

◆ setTrianglePixelSizeRows()

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 134 of file organized_fast_mesh.h.

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

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

◆ setTriangulationType()

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 154 of file organized_fast_mesh.h.

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

◆ setViewpoint()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::setViewpoint ( const Eigen::Vector3f & viewpoint )

inline

Set the viewpoint from where the input point cloud has been acquired.

Parameters

[in] viewpoint Vector containing the viewpoint coordinates (in the coordinate system of the data)

Definition at line 162 of file organized_fast_mesh.h.

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

◆ storeShadowedFaces()

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 177 of file organized_fast_mesh.h.

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

◆ unsetMaxEdgeLength()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::unsetMaxEdgeLength ( )

inline

Definition at line 113 of file organized_fast_mesh.h.

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

◆ useDepthAsDistance()

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::useDepthAsDistance ( bool enable )

inline

Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpoint).

Parameters

[in] enable Set to true skips comptations and further speeds up computation by using depth instead of computing distance. false to disable.

Definition at line 210 of file organized_fast_mesh.h.

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

Member Data Documentation

◆ cos_angle_tolerance_

template<typename PointInT >

float pcl::OrganizedFastMesh< PointInT >::cos_angle_tolerance_ {std::abs (std::cos (pcl::deg2rad (12.5f)))}

protected

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

Definition at line 244 of file organized_fast_mesh.h.

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

◆ distance_dependent_

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::distance_dependent_ {false}

protected

flag whether or not distance_tolerance_ is distance dependent (multiplied by the squared distance to the point) or not.

Definition at line 250 of file organized_fast_mesh.h.

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

◆ distance_tolerance_

template<typename PointInT >

float pcl::OrganizedFastMesh< PointInT >::distance_tolerance_ {-1.0f}

protected

distance tolerance for filtering out shadowed/occluded edges

Definition at line 247 of file organized_fast_mesh.h.

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

◆ max_edge_length_a_

template<typename PointInT >

float pcl::OrganizedFastMesh< PointInT >::max_edge_length_a_ {0.0f}

protected

max length of edge, scalar component

Definition at line 217 of file organized_fast_mesh.h.

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

◆ max_edge_length_b_

template<typename PointInT >

float pcl::OrganizedFastMesh< PointInT >::max_edge_length_b_ {0.0f}

protected

max length of edge, scalar component

Definition at line 219 of file organized_fast_mesh.h.

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

◆ max_edge_length_c_

template<typename PointInT >

float pcl::OrganizedFastMesh< PointInT >::max_edge_length_c_ {0.0f}

protected

max length of edge, scalar component

Definition at line 221 of file organized_fast_mesh.h.

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

◆ max_edge_length_dist_dependent_

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::max_edge_length_dist_dependent_ {false}

protected

flag whether or not max edge length is distance dependent.

Definition at line 226 of file organized_fast_mesh.h.

◆ max_edge_length_set_

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::max_edge_length_set_ {false}

protected

flag whether or not edges are limited in length

Definition at line 223 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::isShadowed(), pcl::OrganizedFastMesh< PointInT >::setMaxEdgeLength(), and pcl::OrganizedFastMesh< PointInT >::unsetMaxEdgeLength().

◆ store_shadowed_faces_

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::store_shadowed_faces_ {false}

protected

Whether or not shadowed faces are stored, e.g., for exploration.

Definition at line 241 of file organized_fast_mesh.h.

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

◆ triangle_pixel_size_columns_

template<typename PointInT >

int pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_columns_ {1}

protected

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

Definition at line 232 of file organized_fast_mesh.h.

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

◆ triangle_pixel_size_rows_

template<typename PointInT >

int pcl::OrganizedFastMesh< PointInT >::triangle_pixel_size_rows_ {1}

protected

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

Definition at line 229 of file organized_fast_mesh.h.

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

◆ triangulation_type_

template<typename PointInT >

TriangulationType pcl::OrganizedFastMesh< PointInT >::triangulation_type_ {QUAD_MESH}

protected

Type of meshing scheme (quads vs.

triangles, left cut vs. right cut ...

Definition at line 235 of file organized_fast_mesh.h.

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

◆ use_depth_as_distance_

template<typename PointInT >

bool pcl::OrganizedFastMesh< PointInT >::use_depth_as_distance_ {false}

protected

flag whether or not the points' depths are used instead of measured distances (points' distances to the viewpoint).

This flag may be set using useDepthAsDistance(true) for (RGB-)Depth cameras to skip computations and gain additional speed up.

Definition at line 254 of file organized_fast_mesh.h.

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

◆ viewpoint_

template<typename PointInT >

Eigen::Vector3f pcl::OrganizedFastMesh< PointInT >::viewpoint_ {Eigen::Vector3f::Zero ()}

protected

Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data).

Definition at line 238 of file organized_fast_mesh.h.

Referenced by pcl::OrganizedFastMesh< PointInT >::getViewpoint(), pcl::OrganizedFastMesh< PointInT >::isShadowed(), and pcl::OrganizedFastMesh< PointInT >::setViewpoint().

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

pcl/surface/organized_fast_mesh.h
pcl/surface/impl/organized_fast_mesh.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT> class pcl::OrganizedFastMesh< PointInT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudPtr

◆ Polygons

◆ Ptr

Member Enumeration Documentation

◆ TriangulationType

Constructor & Destructor Documentation

◆ OrganizedFastMesh()

◆ ~OrganizedFastMesh()

Member Function Documentation

◆ addQuad()

◆ addTriangle()

◆ getViewpoint()

◆ isShadowed()

◆ isShadowedQuad()

◆ isShadowedTriangle()

◆ isValidQuad()

◆ isValidTriangle()

◆ makeAdaptiveCutMesh()

◆ makeLeftCutMesh()

◆ makeQuadMesh()

◆ makeRightCutMesh()

◆ performReconstruction() [1/2]

◆ performReconstruction() [2/2]

◆ reconstructPolygons()

◆ resetPointData()

◆ setAngleTolerance()

◆ setDistanceTolerance()

◆ setMaxEdgeLength()

◆ setTrianglePixelSize()

◆ setTrianglePixelSizeColumns()

◆ setTrianglePixelSizeRows()

◆ setTriangulationType()

◆ setViewpoint()

◆ storeShadowedFaces()

◆ unsetMaxEdgeLength()

◆ useDepthAsDistance()

Member Data Documentation

◆ cos_angle_tolerance_

◆ distance_dependent_

◆ distance_tolerance_

◆ max_edge_length_a_

◆ max_edge_length_b_

◆ max_edge_length_c_

◆ max_edge_length_dist_dependent_

◆ max_edge_length_set_

◆ store_shadowed_faces_

◆ triangle_pixel_size_columns_

◆ triangle_pixel_size_rows_

◆ triangulation_type_

◆ use_depth_as_distance_

◆ viewpoint_

template<typename PointInT>
class pcl::OrganizedFastMesh< PointInT >