The Poisson surface reconstruction algorithm. More...

#include <pcl/surface/poisson.h>

Inheritance diagram for pcl::Poisson< PointNT >:

Collaboration diagram for pcl::Poisson< PointNT >:

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

using	ConstPtr = shared_ptr< const Poisson< PointNT > >

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

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
	Poisson ()
	Constructor that sets all the parameters to working default values. More...

	~Poisson () override
	Destructor. 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	setDepth (int depth)
	Set the maximum depth of the tree that will be used for surface reconstruction. More...

int	getDepth ()
	Get the depth parameter. More...

void	setMinDepth (int min_depth)

int	getMinDepth ()

void	setPointWeight (float point_weight)

float	getPointWeight ()

void	setScale (float scale)
	Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. More...

float	getScale ()
	Get the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. More...

void	setSolverDivide (int solver_divide)
	Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. More...

int	getSolverDivide ()
	Get the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. More...

void	setIsoDivide (int iso_divide)
	Set the depth at which a block iso-surface extractor should be used to extract the iso-surface. More...

int	getIsoDivide ()
	Get the depth at which a block iso-surface extractor should be used to extract the iso-surface. More...

void	setSamplesPerNode (float samples_per_node)
	Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. More...

float	getSamplesPerNode ()
	Get the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. More...

void	setConfidence (bool confidence)
	Set the confidence flag. More...

bool	getConfidence ()
	Get the confidence flag. More...

void	setOutputPolygons (bool output_polygons)
	Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes). More...

bool	getOutputPolygons ()
	Get whether the algorithm outputs a polygon mesh or a triangle mesh. More...

void	setDegree (int degree)
	Set the degree parameter. More...

int	getDegree ()
	Get the degree parameter. More...

void	setManifold (bool manifold)
	Set the manifold flag. More...

bool	getManifold ()
	Get the manifold flag. More...

void	setThreads (int threads)
	Set the number of threads to use. More...

int	getThreads ()
	Get the number of threads. More...

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
std::string	getClassName () const override
	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...

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::Poisson< PointNT >

The Poisson surface reconstruction algorithm.

Note

Code adapted from Misha Kazhdan: http://www.cs.jhu.edu/~misha/Code/PoissonRecon/

Based on the paper:

Michael Kazhdan, Matthew Bolitho, Hugues Hoppe, "Poisson surface reconstruction", SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing

Author: Alexandru-Eugen Ichim

Definition at line 61 of file poisson.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointNT >

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

Definition at line 65 of file poisson.h.

◆ PointCloudPtr

template<typename PointNT >

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

Definition at line 70 of file poisson.h.

◆ Ptr

template<typename PointNT >

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

Definition at line 64 of file poisson.h.

Constructor & Destructor Documentation

◆ Poisson()

template<typename PointNT >

pcl::Poisson< PointNT >::Poisson ( )

default

Constructor that sets all the parameters to working default values.

◆ ~Poisson()

template<typename PointNT >

pcl::Poisson< PointNT >::~Poisson ( )

overridedefault

Destructor.

Member Function Documentation

◆ getClassName()

template<typename PointNT >

std::string pcl::Poisson< PointNT >::getClassName ( ) const

inlineoverrideprotectedvirtual

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointInT >.

Definition at line 233 of file poisson.h.

◆ getConfidence()

template<typename PointNT >

bool pcl::Poisson< PointNT >::getConfidence ( )

inline

Get the confidence flag.

Definition at line 181 of file poisson.h.

◆ getDegree()

template<typename PointNT >

int pcl::Poisson< PointNT >::getDegree ( )

inline

Get the degree parameter.

Definition at line 202 of file poisson.h.

◆ getDepth()

template<typename PointNT >

int pcl::Poisson< PointNT >::getDepth ( )

inline

Get the depth parameter.

Definition at line 103 of file poisson.h.

◆ getIsoDivide()

template<typename PointNT >

int pcl::Poisson< PointNT >::getIsoDivide ( )

inline

Get the depth at which a block iso-surface extractor should be used to extract the iso-surface.

Definition at line 154 of file poisson.h.

◆ getManifold()

template<typename PointNT >

bool pcl::Poisson< PointNT >::getManifold ( )

inline

Get the manifold flag.

Definition at line 214 of file poisson.h.

◆ getMinDepth()

template<typename PointNT >

int pcl::Poisson< PointNT >::getMinDepth ( )

inline

Definition at line 109 of file poisson.h.

◆ getOutputPolygons()

template<typename PointNT >

bool pcl::Poisson< PointNT >::getOutputPolygons ( )

inline

Get whether the algorithm outputs a polygon mesh or a triangle mesh.

Definition at line 192 of file poisson.h.

◆ getPointWeight()

template<typename PointNT >

float pcl::Poisson< PointNT >::getPointWeight ( )

inline

Definition at line 115 of file poisson.h.

◆ getSamplesPerNode()

template<typename PointNT >

float pcl::Poisson< PointNT >::getSamplesPerNode ( )

inline

Get the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.

Definition at line 169 of file poisson.h.

◆ getScale()

template<typename PointNT >

float pcl::Poisson< PointNT >::getScale ( )

inline

Get the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.

Definition at line 128 of file poisson.h.

◆ getSolverDivide()

template<typename PointNT >

int pcl::Poisson< PointNT >::getSolverDivide ( )

inline

Get the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.

Definition at line 141 of file poisson.h.

◆ getThreads()

template<typename PointNT >

int pcl::Poisson< PointNT >::getThreads ( )

inline

Get the number of threads.

Definition at line 225 of file poisson.h.

◆ performReconstruction() [1/2]

template<typename PointNT >

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

overridevirtual

Create the surface.

Parameters

[out]	points	the vertex positions of the resulting mesh
[out]	polygons	the connectivity of the resulting mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 222 of file poisson.hpp.

References pcl::poisson::Point3D< Real >::coords, pcl::poisson::CoredMeshData::inCorePoints, pcl::poisson::CoredVectorMeshData::nextOutOfCorePoint(), pcl::poisson::CoredVectorMeshData::nextPolygon(), pcl::poisson::CoredVectorMeshData::outOfCorePointCount(), pcl::poisson::CoredVectorMeshData::polygonCount(), pcl::PointCloud< PointT >::resize(), and pcl::Vertices::vertices.

◆ performReconstruction() [2/2]

template<typename PointNT >

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

overridevirtual

Create the surface.

Parameters

[out] output the resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 142 of file poisson.hpp.

References pcl::PolygonMesh::cloud, pcl::poisson::Point3D< Real >::coords, pcl::poisson::CoredMeshData::inCorePoints, pcl::poisson::CoredVectorMeshData::nextOutOfCorePoint(), pcl::poisson::CoredVectorMeshData::nextPolygon(), pcl::poisson::CoredVectorMeshData::outOfCorePointCount(), pcl::poisson::CoredVectorMeshData::polygonCount(), pcl::PolygonMesh::polygons, pcl::PointCloud< PointT >::resize(), pcl::toPCLPointCloud2(), and pcl::Vertices::vertices.

◆ setConfidence()

template<typename PointNT >

void pcl::Poisson< PointNT >::setConfidence ( bool confidence )

inline

Set the confidence flag.

Note: Enabling this flag tells the reconstructor to use the size of the normals as confidence information. When the flag is not enabled, all normals are normalized to have unit-length prior to reconstruction.

Parameters

[in] confidence the given flag

Definition at line 177 of file poisson.h.

◆ setDegree()

template<typename PointNT >

void pcl::Poisson< PointNT >::setDegree ( int degree )

inline

Set the degree parameter.

Parameters

[in] degree the given degree

Definition at line 198 of file poisson.h.

◆ setDepth()

template<typename PointNT >

void pcl::Poisson< PointNT >::setDepth ( int depth )

inline

Set the maximum depth of the tree that will be used for surface reconstruction.

Note: Running at depth d corresponds to solving on a voxel grid whose resolution is no larger than 2^d x 2^d x 2^d. Note that since the reconstructor adapts the octree to the sampling density, the specified reconstruction depth is only an upper bound.

Parameters

[in] depth the depth parameter

Definition at line 99 of file poisson.h.

◆ setIsoDivide()

template<typename PointNT >

void pcl::Poisson< PointNT >::setIsoDivide ( int iso_divide )

inline

Set the depth at which a block iso-surface extractor should be used to extract the iso-surface.

Note: Using this parameter helps reduce the memory overhead at the cost of a small increase in extraction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)

Parameters

[in] iso_divide the given parameter value

Definition at line 150 of file poisson.h.

◆ setManifold()

template<typename PointNT >

void pcl::Poisson< PointNT >::setManifold ( bool manifold )

inline

Set the manifold flag.

Note: Enabling this flag tells the reconstructor to add the polygon barycenter when triangulating polygons with more than three vertices.

Parameters

[in] manifold the given flag

Definition at line 210 of file poisson.h.

◆ setMinDepth()

template<typename PointNT >

void pcl::Poisson< PointNT >::setMinDepth ( int min_depth )

inline

Definition at line 106 of file poisson.h.

◆ setOutputPolygons()

template<typename PointNT >

void pcl::Poisson< PointNT >::setOutputPolygons ( bool output_polygons )

inline

Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes).

Parameters

[in] output_polygons the given flag

Definition at line 188 of file poisson.h.

◆ setPointWeight()

template<typename PointNT >

void pcl::Poisson< PointNT >::setPointWeight ( float point_weight )

inline

Definition at line 112 of file poisson.h.

◆ setSamplesPerNode()

template<typename PointNT >

void pcl::Poisson< PointNT >::setSamplesPerNode ( float samples_per_node )

inline

Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.

Note: For noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples, larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.

Parameters

[in] samples_per_node the given parameter value

Definition at line 163 of file poisson.h.

◆ setScale()

template<typename PointNT >

void pcl::Poisson< PointNT >::setScale ( float scale )

inline

Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.

Parameters

[in] scale the given parameter value

Definition at line 122 of file poisson.h.

◆ setSolverDivide()

template<typename PointNT >

void pcl::Poisson< PointNT >::setSolverDivide ( int solver_divide )

inline

Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.

Note: Using this parameter helps reduce the memory overhead at the cost of a small increase in reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)

Parameters

[in] solver_divide the given parameter value

Definition at line 137 of file poisson.h.

◆ setThreads()

template<typename PointNT >

void pcl::Poisson< PointNT >::setThreads ( int threads )

Set the number of threads to use.

Parameters

[in] threads the number of threads

Definition at line 71 of file poisson.hpp.

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

pcl/surface/poisson.h
pcl/surface/impl/poisson.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ Poisson()

◆ ~Poisson()

Member Function Documentation

◆ getClassName()

◆ getConfidence()

◆ getDegree()

◆ getDepth()

◆ getIsoDivide()

◆ getManifold()

◆ getMinDepth()

◆ getOutputPolygons()

◆ getPointWeight()

◆ getSamplesPerNode()

◆ getScale()

◆ getSolverDivide()

◆ getThreads()

◆ performReconstruction() [1/2]

◆ performReconstruction() [2/2]

◆ setConfidence()

◆ setDegree()

◆ setDepth()

◆ setIsoDivide()

◆ setManifold()

◆ setMinDepth()

◆ setOutputPolygons()

◆ setPointWeight()

◆ setSamplesPerNode()

◆ setScale()

◆ setSolverDivide()

◆ setThreads()

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