MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data smoothing and improved normal estimation. More...

#include <pcl/surface/mls.h>

Inheritance diagram for pcl::MovingLeastSquares< PointInT, NormalOutT >:

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Collaboration diagram for pcl::MovingLeastSquares< PointInT, NormalOutT >:

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List of all members.

Public Types
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef pcl::PointCloud < NormalOutT >	NormalCloudOut
typedef NormalCloudOut::Ptr	NormalCloudOutPtr
typedef NormalCloudOut::ConstPtr	NormalCloudOutConstPtr
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)>	SearchMethod
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	MovingLeastSquares ()
	Empty constructor.
void	setOutputNormals (NormalCloudOutPtr cloud)
	Provide a pointer to a point cloud where normal information should be saved.
NormalCloudOutPtr	getOutputNormals ()
	Returns a pointer to the point cloud where normal information was saved during reconstruction.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
void	setPolynomialOrder (int order)
	Set the order of the polynomial to be fit.
int	getPolynomialOrder ()
	Get the order of the polynomial to be fit.
void	setPolynomialFit (bool polynomial_fit)
	Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation.
bool	getPolynomialFit ()
	Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial).
void	setSearchRadius (double radius)
	Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting.
double	getSearchRadius ()
	Get the sphere radius used for determining the k-nearest neighbors.
void	setSqrGaussParam (double sqr_gauss_param)
	Set the parameter used for distance based weighting of neighbors (the square of the search radius works best in general).
double	getSqrGaussParam ()
	Get the parameter for distance based weighting of neighbors.
void	reconstruct (PointCloudIn &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
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 PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointInT, typename NormalOutT>
class pcl::MovingLeastSquares< PointInT, NormalOutT >

MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data smoothing and improved normal estimation.

Author:: Zoltan Csaba Marton, Radu B. Rusu, Suat Gedikli

Definition at line 59 of file mls.h.

Member Typedef Documentation

template<typename PointInT , typename NormalOutT >

typedef pcl::search::Search<PointInT> pcl::MovingLeastSquares< PointInT, NormalOutT >::KdTree

Definition at line 68 of file mls.h.

template<typename PointInT , typename NormalOutT >

typedef pcl::search::Search<PointInT>::Ptr pcl::MovingLeastSquares< PointInT, NormalOutT >::KdTreePtr

Definition at line 69 of file mls.h.

template<typename PointInT , typename NormalOutT >

typedef pcl::PointCloud<NormalOutT> pcl::MovingLeastSquares< PointInT, NormalOutT >::NormalCloudOut

Definition at line 71 of file mls.h.

template<typename PointInT , typename NormalOutT >

typedef NormalCloudOut::ConstPtr pcl::MovingLeastSquares< PointInT, NormalOutT >::NormalCloudOutConstPtr

Definition at line 73 of file mls.h.

template<typename PointInT , typename NormalOutT >

typedef NormalCloudOut::Ptr pcl::MovingLeastSquares< PointInT, NormalOutT >::NormalCloudOutPtr

Definition at line 72 of file mls.h.

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

Definition at line 76 of file pcl_base.h.

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

Definition at line 78 of file pcl_base.h.

template<typename PointInT , typename NormalOutT >

typedef pcl::PointCloud<PointInT> pcl::MovingLeastSquares< PointInT, NormalOutT >::PointCloudIn

Definition at line 75 of file mls.h.

template<typename PointInT , typename NormalOutT >

typedef PointCloudIn::ConstPtr pcl::MovingLeastSquares< PointInT, NormalOutT >::PointCloudInConstPtr

Definition at line 77 of file mls.h.

template<typename PointInT , typename NormalOutT >

typedef PointCloudIn::Ptr pcl::MovingLeastSquares< PointInT, NormalOutT >::PointCloudInPtr

Definition at line 76 of file mls.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]

Reimplemented in pcl::OrganizedFastMesh< PointInT >.

Definition at line 77 of file pcl_base.h.

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

Definition at line 81 of file pcl_base.h.

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

Definition at line 80 of file pcl_base.h.

template<typename PointInT , typename NormalOutT >

typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::MovingLeastSquares< PointInT, NormalOutT >::SearchMethod

Definition at line 79 of file mls.h.

Constructor & Destructor Documentation

template<typename PointInT , typename NormalOutT >

pcl::MovingLeastSquares< PointInT, NormalOutT >::MovingLeastSquares ( ) [inline]

Empty constructor.

Definition at line 82 of file mls.h.

Member Function Documentation

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 192 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 109 of file pcl_base.h.

template<typename PointInT , typename NormalOutT >

NormalCloudOutPtr pcl::MovingLeastSquares< PointInT, NormalOutT >::getOutputNormals ( ) [inline]

Returns a pointer to the point cloud where normal information was saved during reconstruction.

Definition at line 93 of file mls.h.

template<typename PointInT , typename NormalOutT >

bool pcl::MovingLeastSquares< PointInT, NormalOutT >::getPolynomialFit ( ) [inline]

Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial).

Definition at line 129 of file mls.h.

template<typename PointInT , typename NormalOutT >

int pcl::MovingLeastSquares< PointInT, NormalOutT >::getPolynomialOrder ( ) [inline]

Get the order of the polynomial to be fit.

Definition at line 119 of file mls.h.

template<typename PointInT , typename NormalOutT >

KdTreePtr pcl::MovingLeastSquares< PointInT, NormalOutT >::getSearchMethod ( ) [inline]

Get a pointer to the search method used.

Definition at line 109 of file mls.h.

template<typename PointInT , typename NormalOutT >

double pcl::MovingLeastSquares< PointInT, NormalOutT >::getSearchRadius ( ) [inline]

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

Definition at line 140 of file mls.h.

template<typename PointInT , typename NormalOutT >

double pcl::MovingLeastSquares< PointInT, NormalOutT >::getSqrGaussParam ( ) [inline]

Get the parameter for distance based weighting of neighbors.

Definition at line 151 of file mls.h.

const PointInT & pcl::PCLBase< PointInT >::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 199 of file pcl_base.h.

template<typename PointInT , typename NormalOutT >

void pcl::MovingLeastSquares< PointInT, NormalOutT >::reconstruct ( PointCloudIn & output )

Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>

Parameters:

[out] output the resultant reconstructed surface model

Definition at line 50 of file mls.hpp.

void pcl::PCLBase< PointInT >::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 115 of file pcl_base.h.

void pcl::PCLBase< PointInT >::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 126 of file pcl_base.h.

void pcl::PCLBase< PointInT >::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 137 of file pcl_base.h.

void pcl::PCLBase< PointInT >::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 153 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::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 105 of file pcl_base.h.

template<typename PointInT , typename NormalOutT >

void pcl::MovingLeastSquares< PointInT, NormalOutT >::setOutputNormals ( NormalCloudOutPtr cloud ) [inline]

Provide a pointer to a point cloud where normal information should be saved.

Note:: This is optional, it can be the same as the parameter to the reconstruction method, but no normals are estimated if it is not set.

Parameters:

[in] cloud the const boost shared pointer to a point cloud with normal

Definition at line 89 of file mls.h.

template<typename PointInT , typename NormalOutT >

void pcl::MovingLeastSquares< PointInT, NormalOutT >::setPolynomialFit ( bool polynomial_fit ) [inline]

Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation.

Parameters:

[in] polynomial_fit set to true for polynomial fit

Definition at line 125 of file mls.h.

template<typename PointInT , typename NormalOutT >

void pcl::MovingLeastSquares< PointInT, NormalOutT >::setPolynomialOrder ( int order ) [inline]

Set the order of the polynomial to be fit.

Parameters:

[in] order the order of the polynomial

Definition at line 115 of file mls.h.

template<typename PointInT , typename NormalOutT >

void pcl::MovingLeastSquares< PointInT, NormalOutT >::setSearchMethod ( const KdTreePtr & tree ) [inline]

Provide a pointer to the search object.

Parameters:

[in] tree a pointer to the spatial search object.

Definition at line 99 of file mls.h.

template<typename PointInT , typename NormalOutT >

void pcl::MovingLeastSquares< PointInT, NormalOutT >::setSearchRadius ( double radius ) [inline]

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

Parameters:

[in] radius the sphere radius that is to contain all k-nearest neighbors

Note:: Calling this method resets the squared Gaussian parameter to radius * radius !

Definition at line 136 of file mls.h.

template<typename PointInT , typename NormalOutT >

void pcl::MovingLeastSquares< PointInT, NormalOutT >::setSqrGaussParam ( double sqr_gauss_param ) [inline]

Set the parameter used for distance based weighting of neighbors (the square of the search radius works best in general).

Parameters:

[in] sqr_gauss_param the squared Gaussian parameter

Definition at line 147 of file mls.h.

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

/builddir/build/BUILD/PCL-1.4.0-Source/surface/include/pcl/surface/mls.h
/builddir/build/BUILD/PCL-1.4.0-Source/surface/include/pcl/surface/impl/mls.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename NormalOutT> class pcl::MovingLeastSquares< PointInT, NormalOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename NormalOutT>
class pcl::MovingLeastSquares< PointInT, NormalOutT >