Point Cloud Library (PCL)
1.9.1
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44 #include <pcl/pcl_base.h>
45 #include <pcl/search/pcl_search.h>
48 #include <pcl/surface/boost.h>
49 #include <pcl/surface/eigen.h>
50 #include <pcl/surface/processing.h>
52 #include <boost/function.hpp>
87 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
94 MLSResult (
const Eigen::Vector3d &a_query_point,
95 const Eigen::Vector3d &a_mean,
96 const Eigen::Vector3d &a_plane_normal,
97 const Eigen::Vector3d &a_u,
98 const Eigen::Vector3d &a_v,
99 const Eigen::VectorXd &a_c_vec,
100 const int a_num_neighbors,
101 const float a_curvature,
111 getMLSCoordinates (
const Eigen::Vector3d &pt,
double &u,
double &v,
double &w)
const;
134 inline PolynomialPartialDerivative
143 inline Eigen::Vector2f
155 inline MLSProjectionResults
163 inline MLSProjectionResults
172 inline MLSProjectionResults
184 inline MLSProjectionResults
195 inline MLSProjectionResults
205 template <
typename Po
intT>
void
208 const std::vector<int> &nn_indices,
209 double search_radius,
210 int polynomial_order = 2,
211 boost::function<
double(
const double)> weight_func = 0);
223 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
232 double computeMLSWeight (
const double sq_dist,
const double sq_mls_radius) {
return (exp (-sq_dist / sq_mls_radius)); }
249 template <
typename Po
intInT,
typename Po
intOutT>
253 typedef boost::shared_ptr<MovingLeastSquares<PointInT, PointOutT> >
Ptr;
254 typedef boost::shared_ptr<const MovingLeastSquares<PointInT, PointOutT> >
ConstPtr;
275 typedef boost::function<int (
int,
double, std::vector<int> &, std::vector<float> &)>
SearchMethod;
317 rng_uniform_distribution_ ()
338 int (
KdTree::*radiusSearch)(
int index,
double radius, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
unsigned int max_nn)
const = &
KdTree::radiusSearch;
360 PCL_DEPRECATED (
"[pcl::surface::MovingLeastSquares::setPolynomialFit] setPolynomialFit is deprecated. Please use setPolynomialOrder instead.")
378 PCL_DEPRECATED (
"[pcl::surface::MovingLeastSquares::getPolynomialFit] getPolynomialFit is deprecated. Please use getPolynomialOrder instead.")
516 inline const std::vector<MLSResult>&
627 index_3d[1] =
static_cast<Eigen::Vector3i::Scalar
> (index_1d /
data_size_);
629 index_3d[2] =
static_cast<Eigen::Vector3i::Scalar
> (index_1d);
635 for (
int i = 0; i < 3; ++i)
640 getPosition (
const uint64_t &index_1d, Eigen::Vector3f &point)
const
642 Eigen::Vector3i index_3d;
644 for (
int i = 0; i < 3; ++i)
653 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
693 const std::vector<int> &nn_indices,
711 const Eigen::Vector3d &point,
712 const Eigen::Vector3d &normal,
721 PointOutT &point_out)
const;
737 boost::mt19937 rng_alg_;
742 boost::shared_ptr<boost::variate_generator<boost::mt19937&,
743 boost::uniform_real<float> >
744 > rng_uniform_distribution_;
748 getClassName ()
const {
return (
"MovingLeastSquares"); }
756 template <
typename Po
intInT,
typename Po
intOutT>
770 #ifdef PCL_NO_PRECOMPILE
771 #include <pcl/surface/impl/mls.hpp>
void setDilationIterations(int iterations)
Set the number of dilation steps of the voxel grid.
boost::shared_ptr< std::vector< int > > IndicesPtr
int num_neighbors
The number of neighbors used to create the mls surface.
MLSProjectionResults projectPointOrthogonalToPolynomialSurface(const double u, const double v, const double w) const
Project a point orthogonal to the polynomial surface.
Eigen::Vector3d mean
The mean point of all the neighbors.
std::map< uint64_t, Leaf > HashMap
MLSProjectionResults projectPointToMLSPlane(const double u, const double v) const
Project a point onto the MLS plane.
MLSResult::ProjectionMethod projection_method_
Parameter that specifies the projection method to be used.
int getPolynomialOrder() const
Get the order of the polynomial to be fit.
This file defines compatibility wrappers for low level I/O functions.
void computeMLSPointNormal(int index, const std::vector< int > &nn_indices, PointCloudOut &projected_points, NormalCloud &projected_points_normals, PointIndices &corresponding_input_indices, MLSResult &mls_result) const
Smooth a given point and its neighborghood using Moving Least Squares.
int dilation_iteration_num_
Number of dilation steps for the VOXEL_GRID_DILATION upsampling method.
boost::shared_ptr< PointCloud< PointT > > Ptr
void setComputeNormals(bool compute_normals)
Set whether the algorithm should also store the normals computed.
void getIndexIn3D(uint64_t index_1d, Eigen::Vector3i &index_3d) const
PointCloudInConstPtr getDistinctCloud() const
Get the distinct cloud used for the DISTINCT_CLOUD upsampling method.
void setUpsamplingMethod(UpsamplingMethod method)
Set the upsampling method to be used.
void getCellIndex(const Eigen::Vector3f &p, Eigen::Vector3i &index) const
void addProjectedPointNormal(int index, const Eigen::Vector3d &point, const Eigen::Vector3d &normal, double curvature, PointCloudOut &projected_points, NormalCloud &projected_points_normals, PointIndices &corresponding_input_indices) const
This is a helper function for add projected points.
void setPolynomialOrder(int order)
Set the order of the polynomial to be fit.
double z_uu
The partial derivative d^2z/du^2.
PointCloudOut::Ptr PointCloudOutPtr
MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data s...
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
A minimalistic implementation of a voxel grid, necessary for the point cloud upsampling.
double sqr_gauss_param_
Parameter for distance based weighting of neighbors (search_radius_ * search_radius_ works fine)
double u
The u-coordinate of the projected point in local MLS frame.
MovingLeastSquaresOMP implementation has been merged into MovingLeastSquares for better maintainabili...
MLSVoxelGrid(PointCloudInConstPtr &cloud, IndicesPtr &indices, float voxel_size)
boost::shared_ptr< const MovingLeastSquares< PointInT, PointOutT > > ConstPtr
void setUpsamplingRadius(double radius)
Set the radius of the circle in the local point plane that will be sampled.
void computeMLSSurface(const pcl::PointCloud< PointT > &cloud, int index, const std::vector< int > &nn_indices, double search_radius, int polynomial_order=2, boost::function< double(const double)> weight_func=0)
Smooth a given point and its neighborghood using Moving Least Squares.
float curvature
The curvature at the query point.
bool getPolynomialFit() const
Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial).
void getIndexIn1D(const Eigen::Vector3i &index, uint64_t &index_1d) const
int getPointDensity() const
Get the parameter that specifies the desired number of points within the search radius.
MLSResult::ProjectionMethod getProjectionMethod() const
Get the current projection method being used.
void copyMissingFields(const PointInT &point_in, PointOutT &point_out) const
Eigen::Vector3d point
The projected point.
void setSearchRadius(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting.
MovingLeastSquares()
Empty constructor.
Eigen::Vector3d normal
The projected point's normal.
Eigen::VectorXd c_vec
The polynomial coefficients Example: z = c_vec[0] + c_vec[1]*v + c_vec[2]*v^2 + c_vec[3]*u + c_vec[4]...
PointCloudIn::Ptr PointCloudInPtr
Eigen::Vector4f bounding_max_
PointCloud represents the base class in PCL for storing collections of 3D points.
pcl::search::Search< PointInT > KdTree
boost::shared_ptr< MovingLeastSquares< PointInT, PointOutT > > Ptr
double z_vv
The partial derivative d^2z/dv^2.
double upsampling_radius_
Radius of the circle in the local point plane that will be sampled.
@ NONE
No upsampling will be done, only the input points will be projected to their own MLS surfaces.
std::vector< MLSResult > mls_results_
Stores the MLS result for each point in the input cloud.
Eigen::Vector3d query_point
The query point about which the mls surface was generated.
@ SIMPLE
Project along the mls plane normal to the polynomial surface.
PointCloudInConstPtr distinct_cloud_
The distinct point cloud that will be projected to the MLS surface.
double z_v
The partial derivative dz/dv.
double getSearchRadius() const
Get the sphere radius used for determining the k-nearest neighbors.
void performUpsampling(PointCloudOut &output)
Perform upsampling for the distinct-cloud and voxel-grid methods.
PointCloudOut::ConstPtr PointCloudOutConstPtr
SearchMethod search_method_
The search method template for indices.
Eigen::Vector3d plane_normal
The normal of the local plane of the query point.
@ ORTHOGONAL
Project to the closest point on the polynonomial surface.
void getPosition(const uint64_t &index_1d, Eigen::Vector3f &point) const
boost::shared_ptr< PointIndices > PointIndicesPtr
Eigen::Vector2f calculatePrincipleCurvatures(const double u, const double v) const
Calculate the principle curvatures using the polynomial surface.
PolynomialPartialDerivative getPolynomialPartialDerivative(const double u, const double v) const
Calculate the polynomial's first and second partial derivatives.
void setPolynomialFit(bool polynomial_fit)
Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimati...
double v
The u-coordinate of the projected point in local MLS frame.
void setCacheMLSResults(bool cache_mls_results)
Set whether the mls results should be stored for each point in the input cloud.
pcl::PointCloud< PointInT > PointCloudIn
unsigned int threads_
The maximum number of threads the scheduler should use.
double search_radius_
The nearest neighbors search radius for each point.
Data structure used to store the results of the MLS fitting.
Data structure used to store the MLS polynomial partial derivatives.
bool getCacheMLSResults() const
Get the cache_mls_results_ value (True if the mls results should be stored, otherwise false).
@ SAMPLE_LOCAL_PLANE
The local plane of each input point will be sampled in a circular fashion using the upsampling_radius...
void setProjectionMethod(MLSResult::ProjectionMethod method)
Set the method to be used when projection the point on to the MLS surface.
bool cache_mls_results_
True if the mls results for the input cloud should be stored.
MovingLeastSquaresOMP(unsigned int threads=1)
Constructor for parallelized Moving Least Squares.
void setUpsamplingStepSize(double step_size)
Set the step size for the local plane sampling.
double z_u
The partial derivative dz/du.
double z_uv
The partial derivative d^2z/dudv.
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
@ DISTINCT_CLOUD
Project the points of the distinct cloud to the MLS surface.
Data structure used to store the MLS projection results.
pcl::PointCloud< PointOutT > PointCloudOut
bool compute_normals_
Parameter that specifies whether the normals should be computed for the input cloud or not.
pcl::search::Search< PointInT >::Ptr KdTreePtr
double getSqrGaussParam() const
Get the parameter for distance based weighting of neighbors.
KdTreePtr getSearchMethod() const
Get a pointer to the search method used.
int order
The order of the polynomial.
double getUpsamplingStepSize() const
Get the step size for the local plane sampling.
int desired_num_points_in_radius_
Parameter that specifies the desired number of points within the search radius.
virtual int radiusSearch(const PointInT &point, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const=0
Search for all the nearest neighbors of the query point in a given radius.
void process(PointCloudOut &output)
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> SearchMethod
double upsampling_step_
Step size for the local plane sampling.
void setPointDensity(int desired_num_points_in_radius)
Set the parameter that specifies the desired number of points within the search radius.
bool valid
If True, the mls results data is valid, otherwise False.
float voxel_size_
Voxel size for the VOXEL_GRID_DILATION upsampling method.
void setDistinctCloud(PointCloudInConstPtr distinct_cloud)
Set the distinct cloud used for the DISTINCT_CLOUD upsampling method.
PointCloudIn::ConstPtr PointCloudInConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
MLSProjectionResults projectQueryPoint(ProjectionMethod method, int required_neighbors=0) const
Project the query point used to generate the mls surface about using the specified method.
const std::vector< MLSResult > & getMLSResults() const
Get the MLSResults for input cloud.
boost::shared_ptr< ::pcl::PointIndices > PointIndicesPtr
Eigen::Vector4f bounding_min_
Eigen::Vector3d v_axis
The axis corresponding to the v-coordinates of the local plane of the query point.
MLSProjectionResults projectPointSimpleToPolynomialSurface(const double u, const double v) const
Project a point along the MLS plane normal to the polynomial surface.
void setSqrGaussParam(double sqr_gauss_param)
Set the parameter used for distance based weighting of neighbors (the square of the search radius wor...
@ RANDOM_UNIFORM_DENSITY
The local plane of each input point will be sampled using an uniform random distribution such that th...
void setNumberOfThreads(unsigned int threads=1)
Set the maximum number of threads to use.
double getUpsamplingRadius() const
Get the radius of the circle in the local point plane that will be sampled.
UpsamplingMethod upsample_method_
Parameter that specifies the upsampling method to be used.
double z
The z component of the polynomial evaluated at z(u, v).
MLSProjectionResults projectPoint(const Eigen::Vector3d &pt, ProjectionMethod method, int required_neighbors=0) const
Project a point using the specified method.
int order_
The order of the polynomial to be fit.
pcl::PointCloud< pcl::Normal >::Ptr NormalCloudPtr
double getPolynomialValue(const double u, const double v) const
Calculate the polynomial.
KdTreePtr tree_
A pointer to the spatial search object.
int nr_coeff_
Number of coefficients, to be computed from the requested order.
PointIndicesPtr getCorrespondingIndices() const
Get the set of indices with each point in output having the corresponding point in input.
void getMLSCoordinates(const Eigen::Vector3d &pt, double &u, double &v, double &w) const
Given a point calculate it's 3D location in the MLS frame.
void setDilationVoxelSize(float voxel_size)
Set the voxel size for the voxel grid.
@ NONE
Project to the mls plane.
NormalCloudPtr normals_
The point cloud that will hold the estimated normals, if set.
@ VOXEL_GRID_DILATION
The input cloud will be inserted into a voxel grid with voxels of size voxel_size_; this voxel grid w...
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
virtual ~MovingLeastSquares()
Empty destructor.
int searchForNeighbors(int index, std::vector< int > &indices, std::vector< float > &sqr_distances) const
Search for the closest nearest neighbors of a given point using a radius search.
pcl::PointCloud< pcl::Normal > NormalCloud
float getDilationVoxelSize() const
Get the voxel size for the voxel grid.
int getDilationIterations() const
Get the number of dilation steps of the voxel grid.
virtual void performProcessing(PointCloudOut &output)
Abstract surface reconstruction method.
PointIndicesPtr corresponding_input_indices_
Collects for each point in output the corrseponding point in the input.
Eigen::Vector3d u_axis
The axis corresponding to the u-coordinates of the local plane of the query point.