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 }
typedef pcl::PointCloud < PointInT >::Ptr	PointCloudPtr
typedef std::vector < pcl::Vertices >	Polygons
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	OrganizedFastMesh ()
	Constructor.
	~OrganizedFastMesh ()
	Destructor.
void	setMaxEdgeLength (float max_edge_length)
	Set a maximum edge length.
void	setTrianglePixelSize (int triangle_size)
	Set the edge length (in pixels) used for constructing the fixed mesh.
void	setTriangulationType (TriangulationType type)
	Set the triangulation type (see TriangulationType)
void	storeShadowedFaces (bool enable)
	Store shadowed faces or not.
virtual void	reconstruct (pcl::PolygonMesh &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
virtual void	reconstruct (std::vector< pcl::Vertices > &polygons)
	Base method for mesh construction for all points given in <setInputCloud (), setIndices ()>
void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

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 mesh.

Author:: Dirk Holz, Radu B. Rusu

Definition at line 58 of file organized_fast_mesh.h.

Member Typedef Documentation

template<typename PointInT>

typedef pcl::search::Search<PointInT> pcl::PCLSurfaceBase< PointInT >::KdTree [inherited]

Reimplemented in pcl::MarchingCubes< PointNT >, pcl::GreedyProjectionTriangulation< PointInT >, pcl::GridProjection< PointNT >, pcl::MarchingCubesRBF< PointNT >, pcl::MarchingCubesHoppe< PointNT >, and pcl::Poisson< PointNT >.

Definition at line 65 of file reconstruction.h.

template<typename PointInT>

typedef pcl::search::Search<PointInT>::Ptr pcl::PCLSurfaceBase< PointInT >::KdTreePtr [inherited]

Reimplemented in pcl::MarchingCubes< PointNT >, pcl::GreedyProjectionTriangulation< PointInT >, pcl::GridProjection< PointNT >, pcl::MarchingCubesRBF< PointNT >, pcl::MarchingCubesHoppe< PointNT >, and pcl::Poisson< PointNT >.

Definition at line 66 of file reconstruction.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.

Definition at line 76 of file pcl_base.h.

template<typename PointInT >

typedef pcl::PointCloud<PointInT>::Ptr pcl::OrganizedFastMesh< PointInT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 64 of file organized_fast_mesh.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

template<typename PointInT >

typedef std::vector<pcl::Vertices> pcl::OrganizedFastMesh< PointInT >::Polygons

Definition at line 66 of file organized_fast_mesh.h.

Member Enumeration Documentation

template<typename PointInT >

enum pcl::OrganizedFastMesh::TriangulationType

Enumerator:

TRIANGLE_RIGHT_CUT
TRIANGLE_LEFT_CUT
TRIANGLE_ADAPTIVE_CUT
QUAD_MESH

Definition at line 68 of file organized_fast_mesh.h.

Constructor & Destructor Documentation

template<typename PointInT >

pcl::OrganizedFastMesh< PointInT >::OrganizedFastMesh ( ) [inline]

Constructor.

Triangulation type defaults to QUAD_MESH.

Definition at line 77 of file organized_fast_mesh.h.

template<typename PointInT >

pcl::OrganizedFastMesh< PointInT >::~OrganizedFastMesh ( ) [inline]

Destructor.

Definition at line 88 of file organized_fast_mesh.h.

Member Function Documentation

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT>

KdTreePtr pcl::PCLSurfaceBase< PointInT >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 82 of file reconstruction.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointInT >

void pcl::MeshConstruction< PointInT >::reconstruct ( pcl::PolygonMesh & output ) [virtual, inherited]

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

Parameters:

[out] output the resultant reconstructed surface model

Note:: This method copies the input point cloud data from PointCloud<T> to PointCloud2, and is implemented here for backwards compatibility only!

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

Implements pcl::PCLSurfaceBase< PointInT >.

Definition at line 126 of file reconstruction.hpp.

template<typename PointInT >

void pcl::MeshConstruction< PointInT >::reconstruct ( std::vector< pcl::Vertices > & polygons ) [virtual, inherited]

Base method for mesh construction for all points given in <setInputCloud (), setIndices ()>

Parameters:

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

Definition at line 166 of file reconstruction.hpp.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT >

void pcl::OrganizedFastMesh< PointInT >::setMaxEdgeLength ( float max_edge_length ) [inline]

Set a maximum edge length.

TODO: Implement!

Parameters:

[in] max_edge_length the maximum edge length

Definition at line 94 of file organized_fast_mesh.h.

template<typename PointInT>

void pcl::PCLSurfaceBase< PointInT >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide an optional pointer to a search object.

Parameters:

[in] tree a pointer to the spatial search object.

Definition at line 75 of file reconstruction.h.

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 104 of file organized_fast_mesh.h.

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 wrt. the depth (z) of the points)

Definition at line 114 of file organized_fast_mesh.h.

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 123 of file organized_fast_mesh.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/organized_fast_mesh.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/impl/organized_fast_mesh.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

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