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

#include <pcl/surface/gp3.h>

Inheritance diagram for pcl::GreedyProjectionTriangulation< PointInT >:

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 ()=default
	Empty constructor.

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).

double	getMu () const
	Get the nearest neighbor distance multiplier.

void	setMaximumNearestNeighbors (int nnn)
	Set the maximum number of nearest neighbors to be searched for.

int	getMaximumNearestNeighbors () const
	Get the maximum number of nearest neighbors to be searched for.

void	setSearchRadius (double radius)
	Set the sphere radius that is to be used for determining the k-nearest neighbors used for triangulating.

double	getSearchRadius () const
	Get the sphere radius used for determining the k-nearest neighbors.

void	setMinimumAngle (double minimum_angle)
	Set the minimum angle each triangle should have.

double	getMinimumAngle () const
	Get the parameter for distance based weighting of neighbors.

void	setMaximumAngle (double maximum_angle)
	Set the maximum angle each triangle can have.

double	getMaximumAngle () const
	Get the parameter for distance based weighting of neighbors.

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.

double	getMaximumSurfaceAngle () const
	Get the maximum surface angle.

void	setNormalConsistency (bool consistent)
	Set the flag if the input normals are oriented consistently.

bool	getNormalConsistency () const
	Get the flag for consistently oriented normals.

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

bool	getConsistentVertexOrdering () const
	Get the flag signaling consistently ordered triangle vertices.

std::vector< int >	getPointStates () const
	Get the state of each point after reconstruction.

std::vector< int >	getPartIDs () const
	Get the ID of each point after reconstruction.

pcl::Indices	getSFN () const
	Get the sfn list.

pcl::Indices	getFFN () const
	Get the ffn list.

Public Member Functions inherited from pcl::MeshConstruction< PointInT >
	MeshConstruction ()=default
	Constructor.

	~MeshConstruction () override=default
	Destructor.

void	reconstruct (pcl::PolygonMesh &output) override
	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 ()>

Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
	PCLSurfaceBase ()
	Empty constructor.

	~PCLSurfaceBase () override=default
	Empty destructor.

void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object.

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.

	PCLBase (const PCLBase &base)
	Copy constructor.

virtual	~PCLBase ()=default
	Destructor.

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

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.

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Attributes
double	mu_ {0.0}
	The nearest neighbor distance multiplier to obtain the final search radius.

double	search_radius_ {0.0}
	The nearest neighbors search radius for each point and the maximum edge length.

int	nnn_ {100}
	The maximum number of nearest neighbors accepted by searching.

double	minimum_angle_ {M_PI/18}
	The preferred minimum angle for the triangles.

double	maximum_angle_ {2*M_PI/3}
	The maximum angle for the triangles.

double	eps_angle_ {M_PI/4}
	Maximum surface angle.

bool	consistent_ {false}
	Set this to true if the normals of the input are consistently oriented.

bool	consistent_ordering_ {false}
	Set this to true if the output triangle vertices should be consistently oriented.

Protected Attributes inherited from pcl::MeshConstruction< PointInT >
bool	check_tree_ {true}
	A flag specifying whether or not the derived reconstruction algorithm needs the search object tree.

Protected Attributes inherited from pcl::PCLSurfaceBase< PointInT >
KdTreePtr	tree_
	A pointer to the spatial search object.

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Additional Inherited Members
Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation.

bool	deinitCompute ()
	This method should get called after finishing the actual computation.

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.

Template Parameters

PointInT Point type must have XYZ and normal information, for example pcl::PointNormal or pcl::PointXYZRGBNormal or pcl::PointXYZINormal

Author: Zoltan Csaba Marton

Definition at line 131 of file gp3.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT >

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

Definition at line 135 of file gp3.h.

◆ KdTree

template<typename PointInT >

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

Definition at line 141 of file gp3.h.

◆ KdTreePtr

template<typename PointInT >

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

Definition at line 142 of file gp3.h.

◆ PointCloudIn

template<typename PointInT >

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

Definition at line 144 of file gp3.h.

◆ PointCloudInConstPtr

template<typename PointInT >

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

Definition at line 146 of file gp3.h.

◆ PointCloudInPtr

template<typename PointInT >

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

Definition at line 145 of file gp3.h.

◆ Ptr

template<typename PointInT >

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

Definition at line 134 of file gp3.h.

Member Enumeration Documentation

◆ GP3Type

template<typename PointInT >

enum pcl::GreedyProjectionTriangulation::GP3Type

Enumerator
NONE
FREE
FRINGE
BOUNDARY
COMPLETED

Definition at line 148 of file gp3.h.

Constructor & Destructor Documentation

◆ GreedyProjectionTriangulation()

template<typename PointInT >

pcl::GreedyProjectionTriangulation< PointInT >::GreedyProjectionTriangulation ( )

default

Empty constructor.

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 245 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 266 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 212 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 179 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 224 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 201 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 169 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 234 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 257 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 251 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 190 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 262 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 241 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 208 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 175 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 220 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 197 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 165 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 230 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 186 of file gp3.h.

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

Member Data Documentation

◆ consistent_

template<typename PointInT >

bool pcl::GreedyProjectionTriangulation< PointInT >::consistent_ {false}

protected

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

Definition at line 288 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_ {false}

protected

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

Definition at line 291 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_ {M_PI/4}

protected

Maximum surface angle.

Definition at line 285 of file gp3.h.

Referenced by pcl::GreedyProjectionTriangulation< PointInT >::getMaximumSurfaceAngle(), and pcl::GreedyProjectionTriangulation< PointInT >::setMaximumSurfaceAngle().

◆ maximum_angle_

template<typename PointInT >

double pcl::GreedyProjectionTriangulation< PointInT >::maximum_angle_ {2*M_PI/3}

protected

The maximum angle for the triangles.

Definition at line 282 of file gp3.h.

Referenced by pcl::GreedyProjectionTriangulation< PointInT >::getMaximumAngle(), and pcl::GreedyProjectionTriangulation< PointInT >::setMaximumAngle().

◆ minimum_angle_

template<typename PointInT >

double pcl::GreedyProjectionTriangulation< PointInT >::minimum_angle_ {M_PI/18}

protected

The preferred minimum angle for the triangles.

Definition at line 279 of file gp3.h.

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

◆ mu_

template<typename PointInT >

double pcl::GreedyProjectionTriangulation< PointInT >::mu_ {0.0}

protected

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

Definition at line 270 of file gp3.h.

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

◆ nnn_

template<typename PointInT >

int pcl::GreedyProjectionTriangulation< PointInT >::nnn_ {100}

protected

The maximum number of nearest neighbors accepted by searching.

Definition at line 276 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_ {0.0}

protected

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

Definition at line 273 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:

pcl/surface/gp3.h
pcl/surface/impl/gp3.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ KdTree

◆ KdTreePtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

◆ Ptr

Member Enumeration Documentation

◆ GP3Type

Constructor & Destructor Documentation

◆ GreedyProjectionTriangulation()

Member Function Documentation

◆ getConsistentVertexOrdering()

◆ getFFN()

◆ getMaximumAngle()

◆ getMaximumNearestNeighbors()

◆ getMaximumSurfaceAngle()

◆ getMinimumAngle()

◆ getMu()

◆ getNormalConsistency()

◆ getPartIDs()

◆ getPointStates()

◆ getSearchRadius()

◆ getSFN()

◆ setConsistentVertexOrdering()

◆ setMaximumAngle()

◆ setMaximumNearestNeighbors()

◆ setMaximumSurfaceAngle()

◆ setMinimumAngle()

◆ setMu()

◆ setNormalConsistency()

◆ setSearchRadius()

Member Data Documentation

◆ consistent_

◆ consistent_ordering_

◆ eps_angle_

◆ maximum_angle_

◆ minimum_angle_

◆ mu_

◆ nnn_

◆ search_radius_