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/PointCloudLibrary

GreedyProjectionTriangulation is an implementation of a greedy triangulation algorithm for 3D points based on local 2D projections. More...

#include <pcl/surface/gp3.h>

Public Types

enum GP3Type {
NONE = -1, FREE = 0, FRINGE = 1, BOUNDARY = 2,
COMPLETED = 3
}
using Ptr = shared_ptr< GreedyProjectionTriangulation< PointInT > >
using ConstPtr = shared_ptr< const GreedyProjectionTriangulation< PointInT > >
using KdTree = pcl::KdTree< PointInT >
using KdTreePtr = typename KdTree::Ptr
using PointCloudIn = pcl::PointCloud< PointInT >
using PointCloudInPtr = typename PointCloudIn::Ptr
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
- Public Types inherited from pcl::MeshConstruction< PointInT >
using Ptr = shared_ptr< MeshConstruction< PointInT > >
using ConstPtr = shared_ptr< const MeshConstruction< 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

GreedyProjectionTriangulation ()
Empty constructor. More...
void setMu (double mu)
Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point (this will make the algorithm adapt to different point densities in the cloud). More...
double getMu () const
Get the nearest neighbor distance multiplier. More...
void setMaximumNearestNeighbors (int nnn)
Set the maximum number of nearest neighbors to be searched for. More...
int getMaximumNearestNeighbors () const
Get the maximum number of nearest neighbors to be searched for. More...
void setSearchRadius (double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors used for triangulating. More...
double getSearchRadius () const
Get the sphere radius used for determining the k-nearest neighbors. More...
void setMinimumAngle (double minimum_angle)
Set the minimum angle each triangle should have. More...
double getMinimumAngle () const
Get the parameter for distance based weighting of neighbors. More...
void setMaximumAngle (double maximum_angle)
Set the maximum angle each triangle can have. More...
double getMaximumAngle () const
Get the parameter for distance based weighting of neighbors. More...
void setMaximumSurfaceAngle (double eps_angle)
Don't consider points for triangulation if their normal deviates more than this value from the query point's normal. More...
double getMaximumSurfaceAngle () const
Get the maximum surface angle. More...
void setNormalConsistency (bool consistent)
Set the flag if the input normals are oriented consistently. More...
bool getNormalConsistency () const
Get the flag for consistently oriented normals. More...
void setConsistentVertexOrdering (bool consistent_ordering)
Set the flag to order the resulting triangle vertices consistently (positive direction around normal). More...
bool getConsistentVertexOrdering () const
Get the flag signaling consistently ordered triangle vertices. More...
std::vector< int > getPointStates () const
Get the state of each point after reconstruction. More...
std::vector< int > getPartIDs () const
Get the ID of each point after reconstruction. More...
pcl::Indices getSFN () const
Get the sfn list. More...
pcl::Indices getFFN () const
Get the ffn list. More...
- Public Member Functions inherited from pcl::MeshConstruction< PointInT >
MeshConstruction ()
Constructor. More...
~MeshConstruction ()
Destructor. More...
void reconstruct (pcl::PolygonMesh &output) override
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
virtual void reconstruct (std::vector< pcl::Vertices > &polygons)
Base method for mesh construction for all points given in <setInputCloud (), setIndices ()> More...
- Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
PCLSurfaceBase ()
Empty constructor. More...
~PCLSurfaceBase ()
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...
const PointCloudConstPtr 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...
const IndicesConstPtr 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 Attributes

double mu_
The nearest neighbor distance multiplier to obtain the final search radius. More...
double search_radius_
The nearest neighbors search radius for each point and the maximum edge length. More...
int nnn_
The maximum number of nearest neighbors accepted by searching. More...
double minimum_angle_
The preferred minimum angle for the triangles. More...
double maximum_angle_
The maximum angle for the triangles. More...
double eps_angle_
Maximum surface angle. More...
bool consistent_
Set this to true if the normals of the input are consistently oriented. More...
bool consistent_ordering_
Set this to true if the output triangle vertices should be consistently oriented. More...
- Protected Attributes inherited from pcl::MeshConstruction< PointInT >
bool check_tree_
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...

Additional Inherited Members

- 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...

Detailed Description

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

GreedyProjectionTriangulation is an implementation of a greedy triangulation algorithm for 3D points based on local 2D projections.

It assumes locally smooth surfaces and relatively smooth transitions between areas with different point densities.

Author
Zoltan Csaba Marton

Definition at line 130 of file gp3.h.

Member Typedef Documentation

ConstPtr

template<typename PointInT >
using pcl::GreedyProjectionTriangulation< PointInT >::ConstPtr = shared_ptr<const GreedyProjectionTriangulation<PointInT> >

Definition at line 134 of file gp3.h.

KdTree

template<typename PointInT >
using pcl::GreedyProjectionTriangulation< PointInT >::KdTree = pcl::KdTree<PointInT>

Definition at line 140 of file gp3.h.

KdTreePtr

template<typename PointInT >
using pcl::GreedyProjectionTriangulation< PointInT >::KdTreePtr = typename KdTree::Ptr

Definition at line 141 of file gp3.h.

PointCloudIn

template<typename PointInT >
using pcl::GreedyProjectionTriangulation< PointInT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 143 of file gp3.h.

PointCloudInConstPtr

template<typename PointInT >
using pcl::GreedyProjectionTriangulation< PointInT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 145 of file gp3.h.

PointCloudInPtr

template<typename PointInT >
using pcl::GreedyProjectionTriangulation< PointInT >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 144 of file gp3.h.

Ptr

template<typename PointInT >
using pcl::GreedyProjectionTriangulation< PointInT >::Ptr = shared_ptr<GreedyProjectionTriangulation<PointInT> >

Definition at line 133 of file gp3.h.

Member Enumeration Documentation

GP3Type

template<typename PointInT >
enum pcl::GreedyProjectionTriangulation::GP3Type
Enumerator
NONE
FREE
FRINGE
BOUNDARY
COMPLETED

Definition at line 147 of file gp3.h.

Constructor & Destructor Documentation

GreedyProjectionTriangulation()

template<typename PointInT >
pcl::GreedyProjectionTriangulation< PointInT >::GreedyProjectionTriangulation ( )
inline

Empty constructor.

Definition at line 157 of file gp3.h.

Member Function Documentation

getConsistentVertexOrdering()

template<typename PointInT >
bool pcl::GreedyProjectionTriangulation< PointInT >::getConsistentVertexOrdering ( ) const
inline

Get the flag signaling consistently ordered triangle vertices.

Definition at line 265 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::consistent_ordering_.

getFFN()

template<typename PointInT >
pcl::Indices pcl::GreedyProjectionTriangulation< PointInT >::getFFN ( ) const
inline

Get the ffn list.

Definition at line 286 of file gp3.h.

getMaximumAngle()

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::getMaximumAngle ( ) const
inline

Get the parameter for distance based weighting of neighbors.

Definition at line 232 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::maximum_angle_.

getMaximumNearestNeighbors()

template<typename PointInT >
int pcl::GreedyProjectionTriangulation< PointInT >::getMaximumNearestNeighbors ( ) const
inline

Get the maximum number of nearest neighbors to be searched for.

Definition at line 199 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::nnn_.

getMaximumSurfaceAngle()

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::getMaximumSurfaceAngle ( ) const
inline

Get the maximum surface angle.

Definition at line 244 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::eps_angle_.

getMinimumAngle()

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::getMinimumAngle ( ) const
inline

Get the parameter for distance based weighting of neighbors.

Definition at line 221 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::minimum_angle_.

getMu()

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::getMu ( ) const
inline

Get the nearest neighbor distance multiplier.

Definition at line 189 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::mu_.

getNormalConsistency()

template<typename PointInT >
bool pcl::GreedyProjectionTriangulation< PointInT >::getNormalConsistency ( ) const
inline

Get the flag for consistently oriented normals.

Definition at line 254 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::consistent_.

getPartIDs()

template<typename PointInT >
std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getPartIDs ( ) const
inline

Get the ID of each point after reconstruction.

Note
parts are numbered from 0, a -1 denotes unconnected points

Definition at line 277 of file gp3.h.

getPointStates()

template<typename PointInT >
std::vector<int> pcl::GreedyProjectionTriangulation< PointInT >::getPointStates ( ) const
inline

Get the state of each point after reconstruction.

Note
Options are defined as constants: FREE, FRINGE, COMPLETED, BOUNDARY and NONE

Definition at line 271 of file gp3.h.

getSearchRadius()

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::getSearchRadius ( ) const
inline

Get the sphere radius used for determining the k-nearest neighbors.

Definition at line 210 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::search_radius_.

getSFN()

template<typename PointInT >
pcl::Indices pcl::GreedyProjectionTriangulation< PointInT >::getSFN ( ) const
inline

Get the sfn list.

Definition at line 282 of file gp3.h.

setConsistentVertexOrdering()

template<typename PointInT >
void pcl::GreedyProjectionTriangulation< PointInT >::setConsistentVertexOrdering ( bool consistent_ordering )
inline

Set the flag to order the resulting triangle vertices consistently (positive direction around normal).

Note
Assumes consistently oriented normals (towards the viewpoint) – see setNormalConsistency ()
Parameters
[in] consistent_ordering set it to true if triangle vertices should be ordered consistently

Definition at line 261 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::consistent_ordering_.

setMaximumAngle()

template<typename PointInT >
void pcl::GreedyProjectionTriangulation< PointInT >::setMaximumAngle ( double maximum_angle )
inline

Set the maximum angle each triangle can have.

Parameters
[in] maximum_angle the maximum angle each triangle can have
Note
For best results, its value should be around 120 degrees

Definition at line 228 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::maximum_angle_.

setMaximumNearestNeighbors()

template<typename PointInT >
void pcl::GreedyProjectionTriangulation< PointInT >::setMaximumNearestNeighbors ( int nnn )
inline

Set the maximum number of nearest neighbors to be searched for.

Parameters
[in] nnn the maximum number of nearest neighbors

Definition at line 195 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::nnn_.

setMaximumSurfaceAngle()

template<typename PointInT >
void pcl::GreedyProjectionTriangulation< PointInT >::setMaximumSurfaceAngle ( double eps_angle )
inline

Don't consider points for triangulation if their normal deviates more than this value from the query point's normal.

Parameters
[in] eps_angle maximum surface angle
Note
As normal estimation methods usually give smooth transitions at sharp edges, this ensures correct triangulation by avoiding connecting points from one side to points from the other through forcing the use of the edge points.

Definition at line 240 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::eps_angle_.

setMinimumAngle()

template<typename PointInT >
void pcl::GreedyProjectionTriangulation< PointInT >::setMinimumAngle ( double minimum_angle )
inline

Set the minimum angle each triangle should have.

Parameters
[in] minimum_angle the minimum angle each triangle should have
Note
As this is a greedy approach, this will have to be violated from time to time

Definition at line 217 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::minimum_angle_.

setMu()

template<typename PointInT >
void pcl::GreedyProjectionTriangulation< PointInT >::setMu ( double mu )
inline

Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point (this will make the algorithm adapt to different point densities in the cloud).

Parameters
[in] mu the multiplier

Definition at line 185 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::mu_.

setNormalConsistency()

template<typename PointInT >
void pcl::GreedyProjectionTriangulation< PointInT >::setNormalConsistency ( bool consistent )
inline

Set the flag if the input normals are oriented consistently.

Parameters
[in] consistent set it to true if the normals are consistently oriented

Definition at line 250 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::consistent_.

setSearchRadius()

template<typename PointInT >
void pcl::GreedyProjectionTriangulation< PointInT >::setSearchRadius ( double radius )
inline

Set the sphere radius that is to be used for determining the k-nearest neighbors used for triangulating.

Parameters
[in] radius the sphere radius that is to contain all k-nearest neighbors
Note
This distance limits the maximum edge length!

Definition at line 206 of file gp3.h.

References pcl::GreedyProjectionTriangulation< PointInT >::search_radius_.

Member Data Documentation

consistent_

template<typename PointInT >
bool pcl::GreedyProjectionTriangulation< PointInT >::consistent_
protected

Set this to true if the normals of the input are consistently oriented.

Definition at line 308 of file gp3.h.

Referenced by pcl::GreedyProjectionTriangulation< PointInT >::getNormalConsistency(), and pcl::GreedyProjectionTriangulation< PointInT >::setNormalConsistency().

consistent_ordering_

template<typename PointInT >
bool pcl::GreedyProjectionTriangulation< PointInT >::consistent_ordering_
protected

Set this to true if the output triangle vertices should be consistently oriented.

Definition at line 311 of file gp3.h.

Referenced by pcl::GreedyProjectionTriangulation< PointInT >::getConsistentVertexOrdering(), and pcl::GreedyProjectionTriangulation< PointInT >::setConsistentVertexOrdering().

eps_angle_

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::eps_angle_
protected

maximum_angle_

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::maximum_angle_
protected

minimum_angle_

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::minimum_angle_
protected

The preferred minimum angle for the triangles.

Definition at line 299 of file gp3.h.

Referenced by pcl::GreedyProjectionTriangulation< PointInT >::getMinimumAngle(), and pcl::GreedyProjectionTriangulation< PointInT >::setMinimumAngle().

mu_

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::mu_
protected

The nearest neighbor distance multiplier to obtain the final search radius.

Definition at line 290 of file gp3.h.

Referenced by pcl::GreedyProjectionTriangulation< PointInT >::getMu(), and pcl::GreedyProjectionTriangulation< PointInT >::setMu().

nnn_

template<typename PointInT >
int pcl::GreedyProjectionTriangulation< PointInT >::nnn_
protected

The maximum number of nearest neighbors accepted by searching.

Definition at line 296 of file gp3.h.

Referenced by pcl::GreedyProjectionTriangulation< PointInT >::getMaximumNearestNeighbors(), and pcl::GreedyProjectionTriangulation< PointInT >::setMaximumNearestNeighbors().

search_radius_

template<typename PointInT >
double pcl::GreedyProjectionTriangulation< PointInT >::search_radius_
protected

The nearest neighbors search radius for each point and the maximum edge length.

Definition at line 293 of file gp3.h.

Referenced by pcl::GreedyProjectionTriangulation< PointInT >::getSearchRadius(), and pcl::GreedyProjectionTriangulation< PointInT >::setSearchRadius().


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_greedy_projection_triangulation.html