W3cubDocs

/PointCloudLibrary

Grid projection surface reconstruction method. More...

#include <pcl/surface/grid_projection.h>

Classes

struct Leaf
Data leaf. More...

Public Types

using Ptr = shared_ptr< GridProjection< PointNT > >
using ConstPtr = shared_ptr< const GridProjection< PointNT > >
using PointCloudPtr = typename pcl::PointCloud< PointNT >::Ptr
using KdTree = pcl::KdTree< PointNT >
using KdTreePtr = typename KdTree::Ptr
typedef std::unordered_map< int, Leaf, std::hash< int >, std::equal_to<>, Eigen::aligned_allocator< std::pair< const int, Leaf > > > HashMap
- Public Types inherited from pcl::SurfaceReconstruction< PointNT >
using Ptr = shared_ptr< SurfaceReconstruction< PointNT > >
using ConstPtr = shared_ptr< const SurfaceReconstruction< PointNT > >
- Public Types inherited from pcl::PCLSurfaceBase< PointNT >
using Ptr = shared_ptr< PCLSurfaceBase< PointNT > >
using ConstPtr = shared_ptr< const PCLSurfaceBase< PointNT > >
using KdTree = pcl::search::Search< PointNT >
using KdTreePtr = typename KdTree::Ptr
- Public Types inherited from pcl::PCLBase< PointNT >
using PointCloud = pcl::PointCloud< PointNT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

GridProjection ()
Constructor. More...
GridProjection (double in_resolution)
Constructor. More...
~GridProjection ()
Destructor. More...
void setResolution (double resolution)
Set the size of the grid cell. More...
double getResolution () const
void setPaddingSize (int padding_size)
When averaging the vectors, we find the union of all the input data points within the padding area,and do a weighted average. More...
int getPaddingSize () const
void setNearestNeighborNum (int k)
Set this only when using the k nearest neighbors search instead of finding the point union. More...
int getNearestNeighborNum () const
void setMaxBinarySearchLevel (int max_binary_search_level)
Binary search is used in projection. More...
int getMaxBinarySearchLevel () const
const HashMap & getCellHashMap () const
const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & getVectorAtDataPoint () const
const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & getSurface () const
- Public Member Functions inherited from pcl::SurfaceReconstruction< PointNT >
SurfaceReconstruction ()
Constructor. More...
~SurfaceReconstruction ()
Destructor. More...
void reconstruct (pcl::PolygonMesh &output) override
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
virtual void reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
- Public Member Functions inherited from pcl::PCLSurfaceBase< PointNT >
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< PointNT >
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 PointNT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Protected Member Functions

void getBoundingBox ()
Get the bounding box for the input data points, also calculating the cell size, and the gaussian scale factor. More...
bool reconstructPolygons (std::vector< pcl::Vertices > &polygons)
The actual surface reconstruction method. More...
void performReconstruction (pcl::PolygonMesh &output) override
Create the surface. More...
void performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) override
Create the surface. More...
void scaleInputDataPoint (double scale_factor)
When the input data points don't fill into the 1*1*1 box, scale them so that they can be filled in the unit box. More...
void getCellIndex (const Eigen::Vector4f &p, Eigen::Vector3i &index) const
Get the 3d index (x,y,z) of the cell based on the location of the cell. More...
void getCellCenterFromIndex (const Eigen::Vector3i &index, Eigen::Vector4f &center) const
Given the 3d index (x, y, z) of the cell, get the coordinates of the cell center. More...
void getVertexFromCellCenter (const Eigen::Vector4f &cell_center, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &pts) const
Given cell center, caluate the coordinates of the eight vertices of the cell. More...
int getIndexIn1D (const Eigen::Vector3i &index) const
Given an index (x, y, z) in 3d, translate it into the index in 1d. More...
void getIndexIn3D (int index_1d, Eigen::Vector3i &index_3d) const
Given an index in 1d, translate it into the index (x, y, z) in 3d. More...
void fillPad (const Eigen::Vector3i &index)
For a given 3d index of a cell, test whether the cells within its padding area exist in the hash table, if no, create an entry for that cell. More...
void getDataPtsUnion (const Eigen::Vector3i &index, pcl::Indices &pt_union_indices)
Obtain the index of a cell and the pad size. More...
void createSurfaceForCell (const Eigen::Vector3i &index, pcl::Indices &pt_union_indices)
Given the index of a cell, exam it's up, left, front edges, and add the vectices to m_surface list.the up, left, front edges only share 4 points, we first get the vectors at these 4 points and exam whether those three edges are intersected by the surface. More...
void getProjection (const Eigen::Vector4f &p, pcl::Indices &pt_union_indices, Eigen::Vector4f &projection)
Given the coordinates of one point, project it onto the surface, return the projected point. More...
void getProjectionWithPlaneFit (const Eigen::Vector4f &p, pcl::Indices &pt_union_indices, Eigen::Vector4f &projection)
Given the coordinates of one point, project it onto the surface, return the projected point. More...
void getVectorAtPoint (const Eigen::Vector4f &p, pcl::Indices &pt_union_indices, Eigen::Vector3f &vo)
Given the location of a point, get it's vector. More...
void getVectorAtPointKNN (const Eigen::Vector4f &p, pcl::Indices &k_indices, std::vector< float > &k_squared_distances, Eigen::Vector3f &vo)
Given the location of a point, get it's vector. More...
double getMagAtPoint (const Eigen::Vector4f &p, const pcl::Indices &pt_union_indices)
Get the magnitude of the vector by summing up the distance. More...
double getD1AtPoint (const Eigen::Vector4f &p, const Eigen::Vector3f &vec, const pcl::Indices &pt_union_indices)
Get the 1st derivative. More...
double getD2AtPoint (const Eigen::Vector4f &p, const Eigen::Vector3f &vec, const pcl::Indices &pt_union_indices)
Get the 2nd derivative. More...
bool isIntersected (const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &end_pts, std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &vect_at_end_pts, pcl::Indices &pt_union_indices)
Test whether the edge is intersected by the surface by doing the dot product of the vector at two end points. More...
void findIntersection (int level, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &end_pts, const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &vect_at_end_pts, const Eigen::Vector4f &start_pt, pcl::Indices &pt_union_indices, Eigen::Vector4f &intersection)
Find point where the edge intersects the surface. More...
void storeVectAndSurfacePoint (int index_1d, const Eigen::Vector3i &index_3d, pcl::Indices &pt_union_indices, const Leaf &cell_data)
Go through all the entries in the hash table and update the cellData. More...
void storeVectAndSurfacePointKNN (int index_1d, const Eigen::Vector3i &index_3d, const Leaf &cell_data)
Go through all the entries in the hash table and update the cellData. More...
- Protected Member Functions inherited from pcl::PCLSurfaceBase< PointNT >
virtual std::string getClassName () const
Abstract class get name method. More...
- Protected Member Functions inherited from pcl::PCLBase< PointNT >
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...

Additional Inherited Members

- Protected Attributes inherited from pcl::SurfaceReconstruction< PointNT >
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< PointNT >
KdTreePtr tree_
A pointer to the spatial search object. More...
- Protected Attributes inherited from pcl::PCLBase< PointNT >
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...

Detailed Description

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

Grid projection surface reconstruction method.

Author
Rosie Li
Note
If you use this code in any academic work, please cite:
  • Ruosi Li, Lu Liu, Ly Phan, Sasakthi Abeysinghe, Cindy Grimm, Tao Ju. Polygonizing extremal surfaces with manifold guarantees. In Proceedings of the 14th ACM Symposium on Solid and Physical Modeling, 2010.

Definition at line 75 of file grid_projection.h.

Member Typedef Documentation

ConstPtr

template<typename PointNT >
using pcl::GridProjection< PointNT >::ConstPtr = shared_ptr<const GridProjection<PointNT> >

Definition at line 79 of file grid_projection.h.

HashMap

template<typename PointNT >
typedef std::unordered_map<int, Leaf, std::hash<int>, std::equal_to<>, Eigen::aligned_allocator<std::pair<const int, Leaf> > > pcl::GridProjection< PointNT >::HashMap

Definition at line 99 of file grid_projection.h.

KdTree

template<typename PointNT >
using pcl::GridProjection< PointNT >::KdTree = pcl::KdTree<PointNT>

Definition at line 86 of file grid_projection.h.

KdTreePtr

template<typename PointNT >
using pcl::GridProjection< PointNT >::KdTreePtr = typename KdTree::Ptr

Definition at line 87 of file grid_projection.h.

PointCloudPtr

template<typename PointNT >
using pcl::GridProjection< PointNT >::PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr

Definition at line 84 of file grid_projection.h.

Ptr

template<typename PointNT >
using pcl::GridProjection< PointNT >::Ptr = shared_ptr<GridProjection<PointNT> >

Definition at line 78 of file grid_projection.h.

Constructor & Destructor Documentation

GridProjection() [1/2]

template<typename PointNT >
pcl::GridProjection< PointNT >::GridProjection

Constructor.

Definition at line 49 of file grid_projection.hpp.

GridProjection() [2/2]

template<typename PointNT >
pcl::GridProjection< PointNT >::GridProjection ( double in_resolution )

Constructor.

Parameters
in_resolution set the resolution of the grid

Definition at line 56 of file grid_projection.hpp.

~GridProjection()

template<typename PointNT >
pcl::GridProjection< PointNT >::~GridProjection

Destructor.

Definition at line 63 of file grid_projection.hpp.

Member Function Documentation

createSurfaceForCell()

template<typename PointNT >
void pcl::GridProjection< PointNT >::createSurfaceForCell ( const Eigen::Vector3i & index,
pcl::Indices & pt_union_indices
)
protected

Given the index of a cell, exam it's up, left, front edges, and add the vectices to m_surface list.the up, left, front edges only share 4 points, we first get the vectors at these 4 points and exam whether those three edges are intersected by the surface.

Parameters
index the input index
pt_union_indices the union of input data points within the cell and padding cells

Definition at line 172 of file grid_projection.hpp.

References pcl::I_SHIFT_EDGE, and pcl::I_SHIFT_PT.

fillPad()

template<typename PointNT >
void pcl::GridProjection< PointNT >::fillPad ( const Eigen::Vector3i & index )
protected

For a given 3d index of a cell, test whether the cells within its padding area exist in the hash table, if no, create an entry for that cell.

Parameters
index the index of the cell in (x,y,z) format

Definition at line 549 of file grid_projection.hpp.

findIntersection()

template<typename PointNT >
void pcl::GridProjection< PointNT >::findIntersection ( int level,
const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & end_pts,
const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & vect_at_end_pts,
const Eigen::Vector4f & start_pt,
pcl::Indices & pt_union_indices,
Eigen::Vector4f & intersection
)
protected

Find point where the edge intersects the surface.

Parameters
level binary search level
end_pts the two end points on the edge
vect_at_end_pts the vectors at the two end points
start_pt the starting point we use for binary search
pt_union_indices the union of input data points within the cell and padding cells
intersection the resultant intersection point

Definition at line 501 of file grid_projection.hpp.

getBoundingBox()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getBoundingBox
protected

Get the bounding box for the input data points, also calculating the cell size, and the gaussian scale factor.

Definition at line 85 of file grid_projection.hpp.

References pcl::getMinMax3D().

getCellCenterFromIndex()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getCellCenterFromIndex ( const Eigen::Vector3i & index,
Eigen::Vector4f & center
) const
inlineprotected

Given the 3d index (x, y, z) of the cell, get the coordinates of the cell center.

Parameters
index the output 3d index
center the resultant cell center

Definition at line 261 of file grid_projection.h.

getCellHashMap()

template<typename PointNT >
const HashMap& pcl::GridProjection< PointNT >::getCellHashMap ( ) const
inline

Definition at line 179 of file grid_projection.h.

getCellIndex()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getCellIndex ( const Eigen::Vector4f & p,
Eigen::Vector3i & index
) const
inlineprotected

Get the 3d index (x,y,z) of the cell based on the location of the cell.

Parameters
p the coordinate of the input point
index the output 3d index

Definition at line 249 of file grid_projection.h.

getD1AtPoint()

template<typename PointNT >
double pcl::GridProjection< PointNT >::getD1AtPoint ( const Eigen::Vector4f & p,
const Eigen::Vector3f & vec,
const pcl::Indices & pt_union_indices
)
protected

Get the 1st derivative.

Parameters
p the coordinate of the input point
vec the vector at point p
pt_union_indices the union of input data points within the cell and padding cells

Definition at line 440 of file grid_projection.hpp.

getD2AtPoint()

template<typename PointNT >
double pcl::GridProjection< PointNT >::getD2AtPoint ( const Eigen::Vector4f & p,
const Eigen::Vector3f & vec,
const pcl::Indices & pt_union_indices
)
protected

Get the 2nd derivative.

Parameters
p the coordinate of the input point
vec the vector at point p
pt_union_indices the union of input data points within the cell and padding cells

Definition at line 453 of file grid_projection.hpp.

getDataPtsUnion()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getDataPtsUnion ( const Eigen::Vector3i & index,
pcl::Indices & pt_union_indices
)
protected

Obtain the index of a cell and the pad size.

Parameters
index the input index
pt_union_indices the union of input data points within the cell and padding cells

Definition at line 146 of file grid_projection.hpp.

getIndexIn1D()

template<typename PointNT >
int pcl::GridProjection< PointNT >::getIndexIn1D ( const Eigen::Vector3i & index ) const
inlineprotected

Given an index (x, y, z) in 3d, translate it into the index in 1d.

Parameters
index the index of the cell in (x,y,z) 3d format

Definition at line 283 of file grid_projection.h.

getIndexIn3D()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getIndexIn3D ( int index_1d,
Eigen::Vector3i & index_3d
) const
inlineprotected

Given an index in 1d, translate it into the index (x, y, z) in 3d.

Parameters
index_1d the input 1d index
index_3d the output 3d index

Definition at line 296 of file grid_projection.h.

getMagAtPoint()

template<typename PointNT >
double pcl::GridProjection< PointNT >::getMagAtPoint ( const Eigen::Vector4f & p,
const pcl::Indices & pt_union_indices
)
protected

Get the magnitude of the vector by summing up the distance.

Parameters
p the coordinate of the input point
pt_union_indices the union of input data points within the cell and padding cells

Definition at line 424 of file grid_projection.hpp.

References M_E.

getMaxBinarySearchLevel()

template<typename PointNT >
int pcl::GridProjection< PointNT >::getMaxBinarySearchLevel ( ) const
inline

Definition at line 172 of file grid_projection.h.

getNearestNeighborNum()

template<typename PointNT >
int pcl::GridProjection< PointNT >::getNearestNeighborNum ( ) const
inline

Definition at line 157 of file grid_projection.h.

getPaddingSize()

template<typename PointNT >
int pcl::GridProjection< PointNT >::getPaddingSize ( ) const
inline

Definition at line 142 of file grid_projection.h.

getProjection()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getProjection ( const Eigen::Vector4f & p,
pcl::Indices & pt_union_indices,
Eigen::Vector4f & projection
)
protected

Given the coordinates of one point, project it onto the surface, return the projected point.

Do a binary search between p and p+projection_distance to find the projected point

Parameters
p the coordinates of the input point
pt_union_indices the union of input data points within the cell and padding cells
projection the resultant point projected

Definition at line 271 of file grid_projection.hpp.

getProjectionWithPlaneFit()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getProjectionWithPlaneFit ( const Eigen::Vector4f & p,
pcl::Indices & pt_union_indices,
Eigen::Vector4f & projection
)
protected

Given the coordinates of one point, project it onto the surface, return the projected point.

Find the plane which fits all the points in pt_union_indices, projected p to the plane to get the projected point.

Parameters
p the coordinates of the input point
pt_union_indices the union of input data points within the cell and padding cells
projection the resultant point projected
Remarks
iterative weighted least squares or sac might give better results

Definition at line 310 of file grid_projection.hpp.

References pcl::computeMeanAndCovarianceMatrix(), pcl::geometry::distance(), and pcl::eigen33().

getResolution()

template<typename PointNT >
double pcl::GridProjection< PointNT >::getResolution ( ) const
inline

Definition at line 122 of file grid_projection.h.

getSurface()

template<typename PointNT >
const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& pcl::GridProjection< PointNT >::getSurface ( ) const
inline

Definition at line 191 of file grid_projection.h.

getVectorAtDataPoint()

template<typename PointNT >
const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >& pcl::GridProjection< PointNT >::getVectorAtDataPoint ( ) const
inline

Definition at line 185 of file grid_projection.h.

getVectorAtPoint()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getVectorAtPoint ( const Eigen::Vector4f & p,
pcl::Indices & pt_union_indices,
Eigen::Vector3f & vo
)
protected

Given the location of a point, get it's vector.

Parameters
p the coordinates of the input point
pt_union_indices the union of input data points within the cell and padding cells
vo the resultant vector

Definition at line 345 of file grid_projection.hpp.

References pcl::VectorAverage< real, dimension >::add(), pcl::VectorAverage< real, dimension >::getMean(), and M_E.

getVectorAtPointKNN()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getVectorAtPointKNN ( const Eigen::Vector4f & p,
pcl::Indices & k_indices,
std::vector< float > & k_squared_distances,
Eigen::Vector3f & vo
)
protected

Given the location of a point, get it's vector.

Parameters
p the coordinates of the input point
k_indices the k nearest neighbors of the query point
k_squared_distances the squared distances of the k nearest neighbors to the query point
vo the resultant vector

Definition at line 390 of file grid_projection.hpp.

References pcl::VectorAverage< real, dimension >::add(), pcl::VectorAverage< real, dimension >::getEigenVector1(), and M_E.

getVertexFromCellCenter()

template<typename PointNT >
void pcl::GridProjection< PointNT >::getVertexFromCellCenter ( const Eigen::Vector4f & cell_center,
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & pts
) const
protected

Given cell center, caluate the coordinates of the eight vertices of the cell.

Parameters
cell_center the coordinates of the cell center
pts the coordinates of the 8 vertices

Definition at line 126 of file grid_projection.hpp.

isIntersected()

template<typename PointNT >
bool pcl::GridProjection< PointNT >::isIntersected ( const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & end_pts,
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & vect_at_end_pts,
pcl::Indices & pt_union_indices
)
protected

Test whether the edge is intersected by the surface by doing the dot product of the vector at two end points.

Also test whether the edge is intersected by the maximum surface by examing the 2nd derivative of the intersection point

Parameters
end_pts the two points of the edge
vect_at_end_pts
pt_union_indices the union of input data points within the cell and padding cells

Definition at line 466 of file grid_projection.hpp.

performReconstruction() [1/2]

template<typename PointNT >
void pcl::GridProjection< PointNT >::performReconstruction ( pcl::PointCloud< PointNT > & points,
std::vector< pcl::Vertices > & polygons
)
overrideprotectedvirtual

Create the surface.

The 1st step is filling the padding, so that all the cells in the padding area are in the hash map. The 2nd step is store the vector, and projected point. The 3rd step is finding all the edges intersects the surface, and creating surface.

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

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 743 of file grid_projection.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

performReconstruction() [2/2]

template<typename PointNT >
void pcl::GridProjection< PointNT >::performReconstruction ( pcl::PolygonMesh & output )
overrideprotectedvirtual

Create the surface.

The 1st step is filling the padding, so that all the cells in the padding area are in the hash map. The 2nd step is store the vector, and projected point. The 3rd step is finding all the edges intersects the surface, and creating surface.

Parameters
[out] output the resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 717 of file grid_projection.hpp.

References pcl::PolygonMesh::cloud, pcl::PolygonMesh::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PolygonMesh::polygons, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), pcl::toPCLPointCloud2(), and pcl::PointCloud< PointT >::width.

reconstructPolygons()

template<typename PointNT >
bool pcl::GridProjection< PointNT >::reconstructPolygons ( std::vector< pcl::Vertices > & polygons )
protected

The actual surface reconstruction method.

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

Definition at line 613 of file grid_projection.hpp.

References pcl::GridProjection< PointNT >::Leaf::data_indices, pcl::GridProjection< PointNT >::Leaf::pt_on_surface, and pcl::Vertices::vertices.

scaleInputDataPoint()

template<typename PointNT >
void pcl::GridProjection< PointNT >::scaleInputDataPoint ( double scale_factor )
protected

When the input data points don't fill into the 1*1*1 box, scale them so that they can be filled in the unit box.

Otherwise, it will be some drawing problem when doing visulization

Parameters
scale_factor scale all the input data point by scale_factor

Definition at line 74 of file grid_projection.hpp.

setMaxBinarySearchLevel()

template<typename PointNT >
void pcl::GridProjection< PointNT >::setMaxBinarySearchLevel ( int max_binary_search_level )
inline

Binary search is used in projection.

given a point x, we find another point which is 3*cell_size_ far away from x. Then we do a binary search between these two points to find where the projected point should be.

Definition at line 167 of file grid_projection.h.

setNearestNeighborNum()

template<typename PointNT >
void pcl::GridProjection< PointNT >::setNearestNeighborNum ( int k )
inline

Set this only when using the k nearest neighbors search instead of finding the point union.

Parameters
k The number of nearest neighbors we are looking for

Definition at line 152 of file grid_projection.h.

setPaddingSize()

template<typename PointNT >
void pcl::GridProjection< PointNT >::setPaddingSize ( int padding_size )
inline

When averaging the vectors, we find the union of all the input data points within the padding area,and do a weighted average.

Say if the padding size is 1, when we process cell (x,y,z), we will find union of input data points from (x-1) to (x+1), (y-1) to (y+1), (z-1) to (z+1)(in total, 27 cells). In this way, even the cells itself doesn't contain any data points, we will still process it because there are data points in the padding area. This can help us fix holes which is smaller than the padding size.

Parameters
padding_size The num of padding cells we want to create

Definition at line 137 of file grid_projection.h.

setResolution()

template<typename PointNT >
void pcl::GridProjection< PointNT >::setResolution ( double resolution )
inline

Set the size of the grid cell.

Parameters
resolution the size of the grid cell

Definition at line 116 of file grid_projection.h.

storeVectAndSurfacePoint()

template<typename PointNT >
void pcl::GridProjection< PointNT >::storeVectAndSurfacePoint ( int index_1d,
const Eigen::Vector3i & index_3d,
pcl::Indices & pt_union_indices,
const Leaf & cell_data
)
protected

Go through all the entries in the hash table and update the cellData.

When creating the hash table, the pt_on_surface field store the center point of the cell.After calling this function, the projection operator will project the center point onto the surface, and the pt_on_surface field will be updated using the projected point.Also the vect_at_grid_pt field will be updated using the vector at the upper left front vertex of the cell.

Parameters
index_1d the index of the cell after flatting it's 3d index into a 1d array
index_3d the index of the cell in (x,y,z) 3d format
pt_union_indices the union of input data points within the cell and pads
cell_data information stored in the cell

Definition at line 572 of file grid_projection.hpp.

References pcl::GridProjection< PointNT >::Leaf::pt_on_surface.

storeVectAndSurfacePointKNN()

template<typename PointNT >
void pcl::GridProjection< PointNT >::storeVectAndSurfacePointKNN ( int index_1d,
const Eigen::Vector3i & index_3d,
const Leaf & cell_data
)
protected

Go through all the entries in the hash table and update the cellData.

When creating the hash table, the pt_on_surface field store the center point of the cell.After calling this function, the projection operator will project the center point onto the surface, and the pt_on_surface field will be updated using the projected point.Also the vect_at_grid_pt field will be updated using the vector at the upper left front vertex of the cell. When projecting the point and calculating the vector, using K nearest neighbors instead of using the union of input data point within the cell and pads.

Parameters
index_1d the index of the cell after flatting it's 3d index into a 1d array
index_3d the index of the cell in (x,y,z) 3d format
cell_data information stored in the cell

Definition at line 590 of file grid_projection.hpp.

References pcl::GridProjection< PointNT >::Leaf::pt_on_surface.


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_grid_projection.html