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
typedef pcl::PointCloud < PointNT >::Ptr	PointCloudPtr
typedef pcl::KdTree< PointNT >	KdTree
typedef pcl::KdTree< PointNT >::Ptr	KdTreePtr
typedef pcl::PointCloud< PointNT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	Poisson ()
	Constructor that sets all the parameters to working default values.
	~Poisson ()
	Destructor.
void	performReconstruction (pcl::PolygonMesh &output)
	Create the surface.
void	performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
	Create the surface.
void	setConfidence (bool confidence)
	Set the confidence flag.
bool	getConfidence ()
	Get the confidence flag.
void	setManifold (bool manifold)
	Set the manifold flag.
bool	getManifold ()
	Get the manifold flag.
void	setOutputPolygons (bool output_polygons)
	Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes).
bool	getOutputPolygons ()
	Get whether the algorithm outputs a polygon mesh or a triangle mesh.
void	setDepth (int depth)
	Set the maximum depth of the tree that will be used for surface reconstruction.
int	getDepth ()
	Get the depth parameter.
void	setSolverDivide (int solver_divide)
	Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.
int	getSolverDivide ()
	Get the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.
void	setIsoDivide (int iso_divide)
	Set the depth at which a block iso-surface extractor should be used to extract the iso-surface.
int	getIsoDivide ()
	Get the depth at which a block iso-surface extractor should be used to extract the iso-surface.
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.
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.
void	setScale (float scale)
	Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.
float	getScale ()
	Get the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.
void	setDegree (int degree)
	Set the degree parameter.
int	getDegree ()
	Get the degree parameter.
virtual void	reconstruct (pcl::PolygonMesh &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
virtual void	reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
	Base method for surface reconstruction 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 PointNT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

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 55 of file poisson.h.

Member Typedef Documentation

template<typename PointNT >

typedef pcl::KdTree<PointNT> pcl::Poisson< PointNT >::KdTree

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 63 of file poisson.h.

template<typename PointNT >

typedef pcl::KdTree<PointNT>::Ptr pcl::Poisson< PointNT >::KdTreePtr

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 64 of file poisson.h.

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

Definition at line 74 of file pcl_base.h.

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

Definition at line 76 of file pcl_base.h.

template<typename PointNT >

typedef pcl::PointCloud<PointNT>::Ptr pcl::Poisson< PointNT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointNT >.

Definition at line 61 of file poisson.h.

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

Definition at line 79 of file pcl_base.h.

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

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointNT >

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

Constructor that sets all the parameters to working default values.

Definition at line 63 of file poisson.hpp.

template<typename PointNT >

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

Destructor.

Definition at line 83 of file poisson.hpp.

Member Function Documentation

template<typename PointNT >

bool pcl::Poisson< PointNT >::getConfidence ( ) [inline]

Get the confidence flag.

Definition at line 96 of file poisson.h.

template<typename PointNT >

int pcl::Poisson< PointNT >::getDegree ( ) [inline]

Get the degree parameter.

Definition at line 197 of file poisson.h.

template<typename PointNT >

int pcl::Poisson< PointNT >::getDepth ( ) [inline]

Get the depth parameter.

Definition at line 133 of file poisson.h.

IndicesPtr const pcl::PCLBase< PointNT >::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< PointNT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

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 159 of file poisson.h.

template<typename PointNT >

bool pcl::Poisson< PointNT >::getManifold ( ) [inline]

Get the manifold flag.

Definition at line 108 of file poisson.h.

template<typename PointNT >

bool pcl::Poisson< PointNT >::getOutputPolygons ( ) [inline]

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

Definition at line 119 of file poisson.h.

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 174 of file poisson.h.

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 187 of file poisson.h.

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

Get a pointer to the search method used.

Definition at line 82 of file reconstruction.h.

template<typename PointNT >

int pcl::Poisson< PointNT >::getSolverDivide ( ) [inline]

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

Definition at line 146 of file poisson.h.

const PointNT & pcl::PCLBase< PointNT >::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 PointNT >

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

Create the surface.

Parameters:

[out] output the resultant polygonal mesh

Write output PolygonMesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 146 of file poisson.hpp.

template<typename PointNT >

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

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 227 of file poisson.hpp.

virtual void pcl::SurfaceReconstruction< PointNT >::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

Implements pcl::PCLSurfaceBase< PointNT >.

virtual void pcl::SurfaceReconstruction< PointNT >::reconstruct	(	pcl::PointCloud< PointNT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)		`[virtual, inherited]`

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.

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 92 of file poisson.h.

template<typename PointNT >

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

Set the degree parameter.

Parameters:

[in] degree the given degree

Definition at line 193 of file poisson.h.

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 129 of file poisson.h.

void pcl::PCLBase< PointNT >::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< PointNT >::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< PointNT >::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< PointNT >::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< PointNT >::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 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 155 of file poisson.h.

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 104 of file poisson.h.

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 115 of file poisson.h.

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 168 of file poisson.h.

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 181 of file poisson.h.

void pcl::PCLSurfaceBase< PointNT >::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 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 142 of file poisson.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/poisson.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/impl/poisson.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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