SurfaceReconstruction represents a base surface reconstruction class. More...

#include <pcl/surface/reconstruction.h>

Inheritance diagram for pcl::SurfaceReconstruction< PointInT >:

Collaboration diagram for pcl::SurfaceReconstruction< PointInT >:

Public Types
using	Ptr = shared_ptr< SurfaceReconstruction< PointInT > >

using	ConstPtr = shared_ptr< const SurfaceReconstruction< 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
	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< PointInT > &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
virtual void	performReconstruction (pcl::PolygonMesh &output)=0
	Abstract surface reconstruction method. More...

virtual void	performReconstruction (pcl::PointCloud< PointInT > &points, std::vector< pcl::Vertices > &polygons)=0
	Abstract surface reconstruction method. 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
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::SurfaceReconstruction< PointInT >

SurfaceReconstruction represents a base surface reconstruction class.

All surface reconstruction methods take in a point cloud and generate a new surface from it, by either re-sampling the data or generating new data altogether. These methods are thus not preserving the topology of the original data.

Note: Reconstruction methods that always preserve the original input point cloud data as the surface vertices and simply construct the mesh on top should inherit from MeshConstruction.

Author: Radu B. Rusu, Michael Dixon, Alexandru E. Ichim

Definition at line 117 of file reconstruction.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT >

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

Definition at line 121 of file reconstruction.h.

◆ Ptr

template<typename PointInT >

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

Definition at line 120 of file reconstruction.h.

Constructor & Destructor Documentation

◆ SurfaceReconstruction()

template<typename PointInT >

pcl::SurfaceReconstruction< PointInT >::SurfaceReconstruction ( )

default

Constructor.

◆ ~SurfaceReconstruction()

template<typename PointInT >

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

overridedefault

Destructor.

Member Function Documentation

◆ performReconstruction() [1/2]

template<typename PointInT >

virtual void pcl::SurfaceReconstruction< PointInT >::performReconstruction	(	pcl::PointCloud< PointInT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)

protectedpure virtual

Abstract surface reconstruction method.

Parameters

[out]	points	the resultant points lying on the surface
[out]	polygons	the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.

Implemented in pcl::Poisson< PointNT >, pcl::MarchingCubes< PointNT >, and pcl::GridProjection< PointNT >.

◆ performReconstruction() [2/2]

template<typename PointInT >

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

protectedpure virtual

Abstract surface reconstruction method.

Parameters

[out] output the output polygonal mesh

Implemented in pcl::Poisson< PointNT >, pcl::MarchingCubes< PointNT >, and pcl::GridProjection< PointNT >.

◆ reconstruct() [1/2]

template<typename PointInT >

void pcl::SurfaceReconstruction< PointInT >::reconstruct	(	pcl::PointCloud< PointInT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)

virtual

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

Parameters

[out]	points	the resultant points lying on the new surface
[out]	polygons	the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.

NOTE: usually the number of triangles is around twice the number of vertices

Definition at line 92 of file reconstruction.hpp.

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

◆ reconstruct() [2/2]

template<typename PointInT >

void pcl::SurfaceReconstruction< PointInT >::reconstruct ( pcl::PolygonMesh & output )

overridevirtual

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

Parameters

[out] output the resultant reconstructed surface model

NOTE: passing in boost shared pointer with * as const& should be OK here

NOTE: usually the number of triangles is around twice the number of vertices

Implements pcl::PCLSurfaceBase< PointInT >.

Definition at line 52 of file reconstruction.hpp.

References pcl::PolygonMesh::cloud, pcl::PCLPointCloud2::data, pcl::PolygonMesh::header, pcl::PCLPointCloud2::height, pcl::PolygonMesh::polygons, pcl::toPCLPointCloud2(), and pcl::PCLPointCloud2::width.

Member Data Documentation

◆ check_tree_

template<typename PointInT >

bool pcl::SurfaceReconstruction< PointInT >::check_tree_ {true}

protected

A flag specifying whether or not the derived reconstruction algorithm needs the search object tree.

Definition at line 156 of file reconstruction.h.

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

pcl/surface/reconstruction.h
pcl/surface/impl/reconstruction.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ SurfaceReconstruction()

◆ ~SurfaceReconstruction()

Member Function Documentation

◆ performReconstruction() [1/2]

◆ performReconstruction() [2/2]

◆ reconstruct() [1/2]

◆ reconstruct() [2/2]

Member Data Documentation

◆ check_tree_

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