Detailed Description

Overview

The PCL geometry library contains computational geometry data structures and algorithms.

Requirements

common

Classes
class	pcl::LineIterator
	Organized Index Iterator for iterating over the "pixels" for a given line using the Bresenham algorithm. More...

class	pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >
	Base class for the half-edge mesh. More...

class	pcl::geometry::VertexAroundVertexCirculator< MeshT >
	Circulates counter-clockwise around a vertex and returns an index to the terminating vertex of the outgoing half-edge (the target). More...

class	pcl::geometry::OutgoingHalfEdgeAroundVertexCirculator< MeshT >
	Circulates counter-clockwise around a vertex and returns an index to the outgoing half-edge (the target). More...

class	pcl::geometry::IncomingHalfEdgeAroundVertexCirculator< MeshT >
	Circulates counter-clockwise around a vertex and returns an index to the incoming half-edge (the target). More...

class	pcl::geometry::FaceAroundVertexCirculator< MeshT >
	Circulates counter-clockwise around a vertex and returns an index to the face of the outgoing half-edge (the target). More...

class	pcl::geometry::VertexAroundFaceCirculator< MeshT >
	Circulates clockwise around a face and returns an index to the terminating vertex of the inner half-edge (the target). More...

class	pcl::geometry::InnerHalfEdgeAroundFaceCirculator< MeshT >
	Circulates clockwise around a face and returns an index to the inner half-edge (the target). More...

class	pcl::geometry::OuterHalfEdgeAroundFaceCirculator< MeshT >
	Circulates clockwise around a face and returns an index to the outer half-edge (the target). More...

class	pcl::geometry::FaceAroundFaceCirculator< MeshT >
	Circulates clockwise around a face and returns an index to the face of the outer half-edge (the target). More...

class	pcl::geometry::Vertex
	A vertex is a node in the mesh. More...

class	pcl::geometry::HalfEdge
	An edge is a connection between two vertices. More...

class	pcl::geometry::Face
	A face is a closed loop of edges. More...

class	pcl::geometry::MeshIO< MeshT >
	Read / write the half-edge mesh from / to a file. More...

struct	pcl::geometry::DefaultMeshTraits< VertexDataT, HalfEdgeDataT, EdgeDataT, FaceDataT >
	The mesh traits are used to set up compile time settings for the mesh. More...

class	pcl::OrganizedIndexIterator
	base class for iterators on 2-dimensional maps like images/organized clouds etc. More...

class	pcl::geometry::PolygonMesh< MeshTraitsT >
	General half-edge mesh that can store any polygon with a minimum number of vertices of 3. More...

class	pcl::geometry::QuadMesh< MeshTraitsT >
	Half-edge mesh that can only store quads. More...

class	pcl::geometry::TriangleMesh< MeshTraitsT >
	Half-edge mesh that can only store triangles. More...

Typedefs
using	pcl::geometry::VertexIndex = pcl::detail::MeshIndex< struct VertexIndexTag >
	Index used to access elements in the half-edge mesh. More...

using	pcl::geometry::HalfEdgeIndex = pcl::detail::MeshIndex< struct HalfEdgeIndexTag >
	Index used to access elements in the half-edge mesh. More...

using	pcl::geometry::EdgeIndex = pcl::detail::MeshIndex< struct EdgeIndexTag >
	Index used to access elements in the half-edge mesh. More...

using	pcl::geometry::FaceIndex = pcl::detail::MeshIndex< struct FaceIndexTag >
	Index used to access elements in the half-edge mesh. More...

Functions
Eigen::Vector3f	pcl::geometry::projectedAsUnitVector (Eigen::Vector3f const &point, Eigen::Vector3f const &plane_origin, Eigen::Vector3f const &plane_normal)
	Given a plane defined by plane_origin and plane_normal, find the unit vector pointing from plane_origin to the projection of point on the plane. More...

Eigen::Vector3f	pcl::geometry::randomOrthogonalAxis (Eigen::Vector3f const &axis)
	Define a random unit vector orthogonal to axis. More...

template<class MeshT >
void	pcl::geometry::getBoundBoundaryHalfEdges (const MeshT &mesh, std::vector< typename MeshT::HalfEdgeIndices > &boundary_he_collection, const std::size_t expected_size=3)
	Get a collection of boundary half-edges for the input mesh. More...

template<class HalfEdgeMeshT >
void	pcl::geometry::toFaceVertexMesh (const HalfEdgeMeshT &half_edge_mesh, pcl::PolygonMesh &face_vertex_mesh)
	Convert a half-edge mesh to a face-vertex mesh. More...

template<class HalfEdgeMeshT >
int	pcl::geometry::toHalfEdgeMesh (const pcl::PolygonMesh &face_vertex_mesh, HalfEdgeMeshT &half_edge_mesh)
	Convert a face-vertex mesh to a half-edge mesh. More...

Typedef Documentation

◆ EdgeIndex

using pcl::geometry::EdgeIndex = typedef pcl::detail::MeshIndex<struct EdgeIndexTag>

#include <pcl/geometry/mesh_indices.h>

Index used to access elements in the half-edge mesh.

It is basically just a wrapper around an integer with a few added methods.

Author: Martin Saelzle

Definition at line 205 of file mesh_indices.h.

◆ FaceIndex

using pcl::geometry::FaceIndex = typedef pcl::detail::MeshIndex<struct FaceIndexTag>

#include <pcl/geometry/mesh_indices.h>

Index used to access elements in the half-edge mesh.

It is basically just a wrapper around an integer with a few added methods.

Author: Martin Saelzle

Definition at line 211 of file mesh_indices.h.

◆ HalfEdgeIndex

using pcl::geometry::HalfEdgeIndex = typedef pcl::detail::MeshIndex<struct HalfEdgeIndexTag>

#include <pcl/geometry/mesh_indices.h>

Index used to access elements in the half-edge mesh.

It is basically just a wrapper around an integer with a few added methods.

Author: Martin Saelzle

Definition at line 199 of file mesh_indices.h.

◆ VertexIndex

using pcl::geometry::VertexIndex = typedef pcl::detail::MeshIndex<struct VertexIndexTag>

#include <pcl/geometry/mesh_indices.h>

Index used to access elements in the half-edge mesh.

It is basically just a wrapper around an integer with a few added methods.

Author: Martin Saelzle

Definition at line 193 of file mesh_indices.h.

Function Documentation

◆ getBoundBoundaryHalfEdges()

template<class MeshT >

void pcl::geometry::getBoundBoundaryHalfEdges	(	const MeshT &	mesh,
		std::vector< typename MeshT::HalfEdgeIndices > &	boundary_he_collection,
		const std::size_t	expected_size = `3`
	)

#include <pcl/geometry/get_boundary.h>

Get a collection of boundary half-edges for the input mesh.

Parameters

[in]	mesh	The input mesh.
[out]	boundary_he_collection	Collection of boundary half-edges. Each element in the vector is one connected boundary. The whole boundary is the union of all elements.
[in]	expected_size	If you already know the size of the longest boundary you can tell this here. Defaults to 3 (minimum possible boundary).

Author: Martin Saelzle

Definition at line 60 of file get_boundary.h.

References pcl::detail::MeshIndex< IndexTagT >::get(), and pcl::geometry::toEdgeIndex().

◆ projectedAsUnitVector()

Eigen::Vector3f pcl::geometry::projectedAsUnitVector	(	Eigen::Vector3f const &	point,
		Eigen::Vector3f const &	plane_origin,
		Eigen::Vector3f const &	plane_normal
	)

inline

#include <pcl/common/geometry.h>

Given a plane defined by plane_origin and plane_normal, find the unit vector pointing from plane_origin to the projection of point on the plane.

Parameters

[in]	point	Point projected on the plane
[in]	plane_origin	The plane origin
[in]	plane_normal	The plane normal

Returns: unit vector pointing from plane_origin to the projection of point on the plane.

Definition at line 115 of file geometry.h.

References pcl::geometry::project().

Referenced by pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::computePointLRF().

◆ randomOrthogonalAxis()

Eigen::Vector3f pcl::geometry::randomOrthogonalAxis ( Eigen::Vector3f const & axis )

inline

#include <pcl/common/geometry.h>

Define a random unit vector orthogonal to axis.

Parameters

[in] axis Axis

Returns: random unit vector orthogonal to axis

Definition at line 134 of file geometry.h.

Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF(), and pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::computePointLRF().

◆ toFaceVertexMesh()

template<class HalfEdgeMeshT >

void pcl::geometry::toFaceVertexMesh	(	const HalfEdgeMeshT &	half_edge_mesh,
		pcl::PolygonMesh &	face_vertex_mesh
	)

#include <pcl/geometry/mesh_conversion.h>

Convert a half-edge mesh to a face-vertex mesh.

Parameters

[in]	half_edge_mesh	The input mesh.
[out]	face_vertex_mesh	The output mesh.

Author: Martin Saelzle

Definition at line 56 of file mesh_conversion.h.

References pcl::PolygonMesh::cloud, pcl::PolygonMesh::polygons, pcl::toPCLPointCloud2(), and pcl::Vertices::vertices.

◆ toHalfEdgeMesh()

template<class HalfEdgeMeshT >

int pcl::geometry::toHalfEdgeMesh	(	const pcl::PolygonMesh &	face_vertex_mesh,
		HalfEdgeMeshT &	half_edge_mesh
	)

#include <pcl/geometry/mesh_conversion.h>

Convert a face-vertex mesh to a half-edge mesh.

Parameters

[in]	face_vertex_mesh	The input mesh.
[out]	half_edge_mesh	The output mesh. It must have data associated with the vertices.

Returns: The number of faces that could NOT be added to the half-edge mesh.

Author: Martin Saelzle

Definition at line 88 of file mesh_conversion.h.

References pcl::PolygonMesh::cloud, pcl::fromPCLPointCloud2(), and pcl::PolygonMesh::polygons.

Detailed Description

Overview

Requirements

Classes

Typedefs

Functions

Typedef Documentation

◆ EdgeIndex

◆ FaceIndex

◆ HalfEdgeIndex

◆ VertexIndex

Function Documentation

◆ getBoundBoundaryHalfEdges()

◆ projectedAsUnitVector()

◆ randomOrthogonalAxis()

◆ toFaceVertexMesh()

◆ toHalfEdgeMesh()