SurfaceReconstruction represents a base surface reconstruction class. More...

#include <pcl/surface/reconstruction.h>

Inheritance diagram for pcl::SurfaceReconstruction< PointInT >:

Collaboration diagram for pcl::SurfaceReconstruction< PointInT >:

Public Types
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	SurfaceReconstruction ()
	Constructor.
virtual	~SurfaceReconstruction ()
	Destructor.
virtual void	reconstruct (pcl::PolygonMesh &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
virtual void	reconstruct (pcl::PointCloud< PointInT > &points, std::vector< pcl::Vertices > &polygons)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
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>
class pcl::SurfaceReconstruction< PointInT >

SurfaceReconstruction represents a base surface reconstruction class.

All surface reconstruction methods take in a point cloud and generate a new surface from it, by either resampling the data or generating new data altogether. These methods are thus not preserving the topology of the original data.

Note:: Reconstruction methods that always preserve the original input point cloud data as the surface vertices and simply construct the mesh on top should inherit from MeshConstruction.

Author:: Radu B. Rusu, Michael Dixon, Alex Ichim

Definition at line 114 of file reconstruction.h.

Member Typedef Documentation

template<typename PointInT>

typedef pcl::search::Search<PointInT> pcl::PCLSurfaceBase< PointInT >::KdTree [inherited]

Reimplemented in pcl::MarchingCubes< PointNT >, pcl::GreedyProjectionTriangulation< PointInT >, pcl::GridProjection< PointNT >, pcl::MarchingCubesGreedy< PointNT >, and pcl::MarchingCubesGreedyDot< PointNT >.

Definition at line 65 of file reconstruction.h.

template<typename PointInT>

typedef pcl::search::Search<PointInT>::Ptr pcl::PCLSurfaceBase< PointInT >::KdTreePtr [inherited]

Reimplemented in pcl::MarchingCubes< PointNT >, pcl::GreedyProjectionTriangulation< PointInT >, pcl::GridProjection< PointNT >, pcl::MarchingCubesGreedy< PointNT >, and pcl::MarchingCubesGreedyDot< PointNT >.

Definition at line 66 of file reconstruction.h.

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

Definition at line 74 of file pcl_base.h.

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

Definition at line 76 of file pcl_base.h.

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

Reimplemented in pcl::OrganizedFastMesh< PointInT >.

Definition at line 75 of file pcl_base.h.

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

Definition at line 79 of file pcl_base.h.

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

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointInT>

pcl::SurfaceReconstruction< PointInT >::SurfaceReconstruction ( ) [inline]

Constructor.

Definition at line 125 of file reconstruction.h.

template<typename PointInT>

virtual pcl::SurfaceReconstruction< PointInT >::~SurfaceReconstruction ( ) [inline, virtual]

Destructor.

Definition at line 128 of file reconstruction.h.

Member Function Documentation

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

Get a pointer to the vector of indices used.

Definition at line 190 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 107 of file pcl_base.h.

template<typename PointInT>

KdTreePtr pcl::PCLSurfaceBase< PointInT >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 82 of file reconstruction.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 197 of file pcl_base.h.

template<typename PointInT >

void pcl::SurfaceReconstruction< PointInT >::reconstruct ( pcl::PolygonMesh & output ) [virtual]

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

Parameters:

[out] output the resultant reconstructed surface model

NOTE: passing in boost shared pointer with * as const& should be OK here

NOTE: usually the number of triangles is around twice the number of vertices

Implements pcl::PCLSurfaceBase< PointInT >.

Definition at line 46 of file reconstruction.hpp.

template<typename PointInT>

void pcl::SurfaceReconstruction< PointInT >::reconstruct	(	pcl::PointCloud< PointInT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)		`[virtual]`

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

Parameters:

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

NOTE: usually the number of triangles is around twice the number of vertices

Definition at line 86 of file reconstruction.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 113 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 124 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 135 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 151 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 103 of file pcl_base.h.

template<typename PointInT>

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

Provide an optional pointer to a search object.

Parameters:

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

Definition at line 75 of file reconstruction.h.

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

/builddir/build/BUILD/PCL-1.5.1-Source/surface/include/pcl/surface/reconstruction.h
/builddir/build/BUILD/PCL-1.5.1-Source/surface/include/pcl/surface/impl/reconstruction.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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