Point Cloud Library (PCL)  1.3.1
Classes | Functions
Module surface

Detailed Description

Overview

The pcl_surface library deals with reconstructing the original surfaces from 3D scans. Depending on the task at hand, this can be for example the hull, a mesh representation or a smoothed/resampled surface with normals.

Smoothing and resampling can be important if the cloud is noisy, or if it is composed of multiple scans that are not aligned perfectly. The complexity of the surface estimation can be adjusted, and normals can be estimated in the same step if needed.

resampling_1.png

Meshing is a general way to create a surface out of points, and currently there are two algorithms provided: a very fast triangulation of the original points, and a slower meshing that does smoothing and hole filling as well.

surface_meshing.png

Creating a convex or concave hull is useful for example when there is a need for a simplified surface representation or when boundaries need to be extracted.

surface_hull.png

Please visit the tutorials on http://www.pointclouds.org for more information.

History

Requirements

Classes

class  pcl::EarClipping
 The ear clipping triangulation algorithm. More...
class  pcl::GreedyProjectionTriangulation
 GreedyProjectionTriangulation is an implementation of a greedy triangulation algorithm for 3D points based on local 2D projections. More...
class  pcl::GridProjection
 Grid projection surface reconstruction method. More...
class  pcl::MarchingCubes
 The marching cubes surface reconstruction algorithm. More...
class  pcl::MarchingCubesGreedy
 The marching cubes surface reconstruction algorithm, using a "greedy" voxelization algorithm. More...
class  pcl::MarchingCubesGreedyDot
 The marching cubes surface reconstruction algorithm, using a "greedy" voxelization algorithm combined with a dot product, to remove the double surface effect. More...
class  pcl::MovingLeastSquares
 MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data smoothing and improved normal estimation. More...
class  pcl::OrganizedFastMesh
 Simple triangulation/surface reconstruction for organized point clouds. More...
class  pcl::SurfaceReconstruction
 SurfaceReconstruction represents the base surface reconstruction class. More...
class  pcl::TextureMapping
 The texture mapping algorithm. More...
class  pcl::surface::VTKSmoother
 VTKSmoother is a wrapper around some subdivision and filter methods from VTK. More...

Functions

bool pcl::isVisible (const Eigen::Vector2f &X, const Eigen::Vector2f &S1, const Eigen::Vector2f &S2, const Eigen::Vector2f &R=Eigen::Vector2f::Zero())
 Returns if a point X is visible from point R (or the origin) when taking into account the segment between the points S1 and S2.

Function Documentation

bool pcl::isVisible ( const Eigen::Vector2f &  X,
const Eigen::Vector2f &  S1,
const Eigen::Vector2f &  S2,
const Eigen::Vector2f &  R = Eigen::Vector2f::Zero () 
) [inline]

Returns if a point X is visible from point R (or the origin) when taking into account the segment between the points S1 and S2.

Parameters:
X2D coordinate of the point
S12D coordinate of the segment's first point
S22D coordinate of the segment's secont point
R2D coorddinate of the reference point (defaults to 0,0)

Definition at line 76 of file gp3.h.

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