pcl::geometry Namespace Reference

Classes
class	MeshIO
	Read / write the half-edge mesh from / to a file. More...
class	MeshBase
	Base class for the half-edge mesh. More...
class	VertexAroundVertexCirculator
	Circulates counter-clockwise around a vertex and returns an index to the terminating vertex of the outgoing half-edge (the target). More...
class	OutgoingHalfEdgeAroundVertexCirculator
	Circulates counter-clockwise around a vertex and returns an index to the outgoing half-edge (the target). More...
class	IncomingHalfEdgeAroundVertexCirculator
	Circulates counter-clockwise around a vertex and returns an index to the incoming half-edge (the target). More...
class	FaceAroundVertexCirculator
	Circulates counter-clockwise around a vertex and returns an index to the face of the outgoing half-edge (the target). More...
class	VertexAroundFaceCirculator
	Circulates clockwise around a face and returns an index to the terminating vertex of the inner half-edge (the target). More...
class	InnerHalfEdgeAroundFaceCirculator
	Circulates clockwise around a face and returns an index to the inner half-edge (the target). More...
class	OuterHalfEdgeAroundFaceCirculator
	Circulates clockwise around a face and returns an index to the outer half-edge (the target). More...
class	FaceAroundFaceCirculator
	Circulates clockwise around a face and returns an index to the face of the outer half-edge (the target). More...
class	Vertex
	A vertex is a node in the mesh. More...
class	HalfEdge
	An edge is a connection between two vertices. More...
class	Face
	A face is a closed loop of edges. More...
struct	NoData
	No data is associated with the vertices / half-edges / edges / faces. More...
struct	DefaultMeshTraits
	The mesh traits are used to set up compile time settings for the mesh. More...
struct	PolygonMeshTag
	Tag describing the type of the mesh. More...
class	PolygonMesh
	General half-edge mesh that can store any polygon with a minimum number of vertices of 3. More...
struct	QuadMeshTag
	Tag describing the type of the mesh. More...
class	QuadMesh
	Half-edge mesh that can only store quads. More...
struct	TriangleMeshTag
	Tag describing the type of the mesh. More...
class	TriangleMesh
	Half-edge mesh that can only store triangles. More...

Typedefs
using	VertexIndex = pcl::detail::MeshIndex< struct VertexIndexTag >
	Index used to access elements in the half-edge mesh. More...
using	HalfEdgeIndex = pcl::detail::MeshIndex< struct HalfEdgeIndexTag >
	Index used to access elements in the half-edge mesh. More...
using	EdgeIndex = pcl::detail::MeshIndex< struct EdgeIndexTag >
	Index used to access elements in the half-edge mesh. More...
using	FaceIndex = pcl::detail::MeshIndex< struct FaceIndexTag >
	Index used to access elements in the half-edge mesh. More...

Functions
template<typename PointT >
float	distance (const PointT &p1, const PointT &p2)
template<typename PointT >
float	squaredDistance (const PointT &p1, const PointT &p2)
template<typename PointT , typename NormalT >
void	project (const PointT &point, const PointT &plane_origin, const NormalT &plane_normal, PointT &projected)
void	project (const Eigen::Vector3f &point, const Eigen::Vector3f &plane_origin, const Eigen::Vector3f &plane_normal, Eigen::Vector3f &projected)
Eigen::Vector3f	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	randomOrthogonalAxis (Eigen::Vector3f const &axis)
	Define a random unit vector orthogonal to axis. More...
template<class MeshT >
void	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	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	toHalfEdgeMesh (const pcl::PolygonMesh &face_vertex_mesh, HalfEdgeMeshT &half_edge_mesh)
	Convert a face-vertex mesh to a half-edge mesh. More...
EdgeIndex	toEdgeIndex (const HalfEdgeIndex &index)
	Convert the given half-edge index to an edge index. More...
HalfEdgeIndex	toHalfEdgeIndex (const EdgeIndex &index, const bool get_first=true)
	Convert the given edge index to a half-edge index. More...

Function Documentation

distance()

template<typename PointT >

float pcl::geometry::distance ( const PointT &  p1, const PointT &  p2  )

inline

Returns

the euclidean distance between 2 points

Definition at line 60 of file geometry.h.

Referenced by pcl::FarthestPointSampling< PointT >::applyFilter(), pcl_cuda::PassThrough< PointCloudSOA< Device > >::applyFilter(), pcl_cuda::VoxelGrid< PointCloudSOA< Device > >::applyFilter(), pcl::StatisticalOutlierRemoval< PointT >::applyFilterIndices(), pcl::approximatePolygon2D(), pcl::MinCutSegmentation< PointT >::calculateBinaryPotential(), pcl::PlaneClipper3D< PointT >::clipPlanarPolygon3D(), pcl::GeometricConsistencyGrouping< PointModelT, PointSceneT >::clusterCorrespondences(), pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::computeDistance(), pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::computeDistanceHistogram(), pcl::computeMedian(), pcl::MLSResult::computeMLSSurface(), pcl::LeastMedianSquares< PointT >::computeModel(), pcl::MaximumLikelihoodSampleConsensus< PointT >::computeModel(), pcl::MEstimatorSampleConsensus< PointT >::computeModel(), pcl::RandomizedMEstimatorSampleConsensus< PointT >::computeModel(), pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computePoint(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::computePointLRF(), pcl::SampleConsensusModelTorus< PointT, PointNT >::countWithinDistance(), pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::determineCorrespondences(), pcl::registration::CorrespondenceEstimation< PointSource, PointTarget, Scalar >::determineReciprocalCorrespondences(), pcl::eigen33(), pcl::SurfaceNormalModality< PointInT >::extractAllFeatures(), pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::extractDescriptors(), pcl::SurfaceNormalModality< PointInT >::extractFeatures(), pcl::ColorModality< PointInT >::extractFeatures(), pcl::ColorGradientModality< PointInT >::extractFeatures(), pcl::people::HeightMap2D< PointT >::filterMaxima(), pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::getDominantLabel(), pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >::getEdgeIndex(), pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >::getFaceIndex(), pcl::getFieldIndex(), pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >::getHalfEdgeIndex(), pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::getLocalRF(), pcl::GridProjection< PointNT >::getProjectionWithPlaneFit(), pcl::RangeImage::getSurfaceInformation(), pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >::getVertexIndex(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::houghVoting(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel(), pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::searchForNeighbors(), pcl::UnaryClassifier< PointT >::segment(), pcl::ExtractPolygonalPrismData< PointT >::segment(), pcl::SampleConsensusModelRegistration2D< PointT >::selectWithinDistance(), pcl::SampleConsensusModelCone< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelCylinder< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelNormalPlane< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelNormalSphere< PointT, PointNT >::selectWithinDistance(), pcl::SampleConsensusModelPlane< PointT >::selectWithinDistance(), pcl::SampleConsensusModelRegistration< PointT >::selectWithinDistance(), pcl::SampleConsensusModelTorus< PointT, PointNT >::selectWithinDistance(), pcl::registration::CorrespondenceRejectorDistance::setMaximumDistance(), pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud(), and pcl::toPCLPointCloud2().

project() [1/2]

void pcl::geometry::project ( const Eigen::Vector3f &  point, const Eigen::Vector3f &  plane_origin, const Eigen::Vector3f &  plane_normal, Eigen::Vector3f &  projected  )

inline

Returns

the point projection on a plane defined by its origin and normal vector

Parameters

[in]	point	Point to be projected
[in]	plane_origin	The plane origin
[in]	plane_normal	The plane normal
[out]	projected	The returned projected point

Definition at line 97 of file geometry.h.

project() [2/2]

template<typename PointT , typename NormalT >

void pcl::geometry::project ( const PointT &  point, const PointT &  plane_origin, const NormalT &  plane_normal, PointT &  projected  )

inline

Returns

the point projection on a plane defined by its origin and normal vector

Parameters

[in]	point	Point to be projected
[in]	plane_origin	The plane origin
[in]	plane_normal	The plane normal
[out]	projected	The returned projected point

Definition at line 81 of file geometry.h.

Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computePoint(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), pcl::PCA< PointT >::project(), and projectedAsUnitVector().

squaredDistance()

template<typename PointT >

float pcl::geometry::squaredDistance ( const PointT &  p1, const PointT &  p2  )

inline

Returns

the squared euclidean distance between 2 points

Definition at line 68 of file geometry.h.

toEdgeIndex()

EdgeIndex pcl::geometry::toEdgeIndex ( const HalfEdgeIndex &  index )

inline

Convert the given half-edge index to an edge index.

Definition at line 224 of file mesh_indices.h.

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

Referenced by getBoundBoundaryHalfEdges().

toHalfEdgeIndex()

HalfEdgeIndex pcl::geometry::toHalfEdgeIndex ( const EdgeIndex &  index, const bool  get_first = true  )

inline

Convert the given edge index to a half-edge index.

Parameters

	index
[in]	get_first	The first half-edge of the edge is returned if this variable is true; elsewise the second.

Definition at line 235 of file mesh_indices.h.

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

Referenced by pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >::deleteEdge(), pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >::isBoundary(), pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >::isDeleted(), and pcl::geometry::MeshBase< DerivedT, MeshTraitsT, MeshTagT >::markDeleted().