W3cubDocs

/PointCloudLibrary

The Poisson surface reconstruction algorithm. More...

#include <pcl/surface/poisson.h>

Public Types

using Ptr = shared_ptr< Poisson< PointNT > >
using ConstPtr = shared_ptr< const Poisson< PointNT > >
using PointCloudPtr = typename pcl::PointCloud< PointNT >::Ptr
using KdTree = pcl::KdTree< PointNT >
using KdTreePtr = typename KdTree::Ptr
- 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

Poisson ()
Constructor that sets all the parameters to working default values. More...
~Poisson ()
Destructor. 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 setDepth (int depth)
Set the maximum depth of the tree that will be used for surface reconstruction. More...
int getDepth ()
Get the depth parameter. More...
void setMinDepth (int min_depth)
int getMinDepth ()
void setPointWeight (float point_weight)
float getPointWeight ()
void setScale (float scale)
Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. More...
float getScale ()
Get the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. More...
void setSolverDivide (int solver_divide)
Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. More...
int getSolverDivide ()
Get the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. More...
void setIsoDivide (int iso_divide)
Set the depth at which a block iso-surface extractor should be used to extract the iso-surface. More...
int getIsoDivide ()
Get the depth at which a block iso-surface extractor should be used to extract the iso-surface. More...
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. More...
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. More...
void setConfidence (bool confidence)
Set the confidence flag. More...
bool getConfidence ()
Get the confidence flag. More...
void setOutputPolygons (bool output_polygons)
Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes). More...
bool getOutputPolygons ()
Get whether the algorithm outputs a polygon mesh or a triangle mesh. More...
void setDegree (int degree)
Set the degree parameter. More...
int getDegree ()
Get the degree parameter. More...
void setManifold (bool manifold)
Set the manifold flag. More...
bool getManifold ()
Get the manifold flag. More...
void setThreads (int threads)
Set the number of threads to use. More...
int getThreads ()
Get the number of threads. More...
- 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

std::string getClassName () const override
Class get name method. 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::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 61 of file poisson.h.

Member Typedef Documentation

ConstPtr

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

Definition at line 65 of file poisson.h.

KdTree

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

Definition at line 72 of file poisson.h.

KdTreePtr

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

Definition at line 73 of file poisson.h.

PointCloudPtr

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

Definition at line 70 of file poisson.h.

Ptr

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

Definition at line 64 of file poisson.h.

Constructor & Destructor Documentation

Poisson()

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

Constructor that sets all the parameters to working default values.

Definition at line 64 of file poisson.hpp.

~Poisson()

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

Destructor.

Definition at line 90 of file poisson.hpp.

Member Function Documentation

getClassName()

template<typename PointNT >
std::string pcl::Poisson< PointNT >::getClassName ( ) const
inlineoverrideprotected

Class get name method.

Definition at line 236 of file poisson.h.

getConfidence()

template<typename PointNT >
bool pcl::Poisson< PointNT >::getConfidence ( )
inline

Get the confidence flag.

Definition at line 184 of file poisson.h.

getDegree()

template<typename PointNT >
int pcl::Poisson< PointNT >::getDegree ( )
inline

Get the degree parameter.

Definition at line 205 of file poisson.h.

getDepth()

template<typename PointNT >
int pcl::Poisson< PointNT >::getDepth ( )
inline

Get the depth parameter.

Definition at line 106 of file poisson.h.

getIsoDivide()

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 157 of file poisson.h.

getManifold()

template<typename PointNT >
bool pcl::Poisson< PointNT >::getManifold ( )
inline

Get the manifold flag.

Definition at line 217 of file poisson.h.

getMinDepth()

template<typename PointNT >
int pcl::Poisson< PointNT >::getMinDepth ( )
inline

Definition at line 112 of file poisson.h.

getOutputPolygons()

template<typename PointNT >
bool pcl::Poisson< PointNT >::getOutputPolygons ( )
inline

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

Definition at line 195 of file poisson.h.

getPointWeight()

template<typename PointNT >
float pcl::Poisson< PointNT >::getPointWeight ( )
inline

Definition at line 118 of file poisson.h.

getSamplesPerNode()

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 172 of file poisson.h.

getScale()

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 131 of file poisson.h.

getSolverDivide()

template<typename PointNT >
int pcl::Poisson< PointNT >::getSolverDivide ( )
inline

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

Definition at line 144 of file poisson.h.

getThreads()

template<typename PointNT >
int pcl::Poisson< PointNT >::getThreads ( )
inline

Get the number of threads.

Definition at line 228 of file poisson.h.

performReconstruction() [1/2]

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

performReconstruction() [2/2]

setConfidence()

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 180 of file poisson.h.

setDegree()

template<typename PointNT >
void pcl::Poisson< PointNT >::setDegree ( int degree )
inline

Set the degree parameter.

Parameters
[in] degree the given degree

Definition at line 201 of file poisson.h.

setDepth()

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 102 of file poisson.h.

setIsoDivide()

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 153 of file poisson.h.

setManifold()

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 213 of file poisson.h.

setMinDepth()

template<typename PointNT >
void pcl::Poisson< PointNT >::setMinDepth ( int min_depth )
inline

Definition at line 109 of file poisson.h.

setOutputPolygons()

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 191 of file poisson.h.

setPointWeight()

template<typename PointNT >
void pcl::Poisson< PointNT >::setPointWeight ( float point_weight )
inline

Definition at line 115 of file poisson.h.

setSamplesPerNode()

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 166 of file poisson.h.

setScale()

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 125 of file poisson.h.

setSolverDivide()

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 140 of file poisson.h.

setThreads()

template<typename PointNT >
void pcl::Poisson< PointNT >::setThreads ( int threads )

Set the number of threads to use.

Parameters
[in] threads the number of threads

Definition at line 96 of file poisson.hpp.


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_poisson.html