The Poisson surface reconstruction algorithm. More...
#include <pcl/surface/poisson.h>
Inheritance diagram for pcl::Poisson< PointNT >:
Public Types | |
| typedef boost::shared_ptr < Poisson< PointNT > > | Ptr |
| typedef boost::shared_ptr < const Poisson< PointNT > > | ConstPtr |
| typedef pcl::PointCloud < PointNT >::Ptr | PointCloudPtr |
| typedef pcl::KdTree< PointNT > | KdTree |
| typedef pcl::KdTree< PointNT >::Ptr | KdTreePtr |
Public Member Functions | |
| Poisson () | |
| Constructor that sets all the parameters to working default values. | |
| ~Poisson () | |
| Destructor. | |
| void | performReconstruction (pcl::PolygonMesh &output) |
| Create the surface. | |
| void | performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) |
| Create the surface. | |
| void | setDepth (int depth) |
| Set the maximum depth of the tree that will be used for surface reconstruction. | |
| int | getDepth () |
| Get the depth parameter. | |
| void | setMinDepth (int min_depth) |
| int | getMinDepth () |
| void | setPointWeight (float point_weight) |
| float | getPointWeight () |
| void | setScale (float scale) |
| Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. | |
| float | getScale () |
| Get the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. | |
| void | setSolverDivide (int solver_divide) |
| Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. | |
| int | getSolverDivide () |
| Get the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. | |
| void | setIsoDivide (int iso_divide) |
| Set the depth at which a block iso-surface extractor should be used to extract the iso-surface. | |
| int | getIsoDivide () |
| Get the depth at which a block iso-surface extractor should be used to extract the iso-surface. | |
| void | setSamplesPerNode (float samples_per_node) |
| Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. | |
| float | getSamplesPerNode () |
| Get the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. | |
| void | setConfidence (bool confidence) |
| Set the confidence flag. | |
| bool | getConfidence () |
| Get the confidence flag. | |
| void | setOutputPolygons (bool output_polygons) |
| Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating the results of Marching Cubes). | |
| bool | getOutputPolygons () |
| Get whether the algorithm outputs a polygon mesh or a triangle mesh. | |
| void | setDegree (int degree) |
| Set the degree parameter. | |
| int | getDegree () |
| Get the degree parameter. | |
| void | setManifold (bool manifold) |
| Set the manifold flag. | |
| bool | getManifold () |
| Get the manifold flag. | |
Protected Member Functions | |
| std::string | getClassName () const |
| Class get name method. | |
Detailed Description
template<typename PointNT>
class pcl::Poisson< PointNT >
The Poisson surface reconstruction algorithm.
- Note:
- Code adapted from Misha Kazhdan: http://www.cs.jhu.edu/~misha/Code/PoissonRecon/
- Based on the paper: * Michael Kazhdan, Matthew Bolitho, Hugues Hoppe, "Poisson surface reconstruction", SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
Member Typedef Documentation
| typedef boost::shared_ptr<const Poisson<PointNT> > pcl::Poisson< PointNT >::ConstPtr |
Reimplemented from pcl::SurfaceReconstruction< PointNT >.
| typedef pcl::KdTree<PointNT> pcl::Poisson< PointNT >::KdTree |
Reimplemented from pcl::PCLSurfaceBase< PointNT >.
| typedef pcl::KdTree<PointNT>::Ptr pcl::Poisson< PointNT >::KdTreePtr |
Reimplemented from pcl::PCLSurfaceBase< PointNT >.
| typedef pcl::PointCloud<PointNT>::Ptr pcl::Poisson< PointNT >::PointCloudPtr |
Reimplemented from pcl::PCLBase< PointNT >.
| typedef boost::shared_ptr<Poisson<PointNT> > pcl::Poisson< PointNT >::Ptr |
Reimplemented from pcl::SurfaceReconstruction< PointNT >.
Constructor & Destructor Documentation
| pcl::Poisson< PointNT >::Poisson | ( | ) |
Constructor that sets all the parameters to working default values.
Definition at line 64 of file poisson.hpp.
| pcl::Poisson< PointNT >::~Poisson | ( | ) |
Destructor.
Definition at line 89 of file poisson.hpp.
Member Function Documentation
| std::string pcl::Poisson< PointNT >::getClassName | ( | ) | const [inline, protected, virtual] |
Class get name method.
Reimplemented from pcl::PCLSurfaceBase< PointNT >.
| bool pcl::Poisson< PointNT >::getConfidence | ( | ) | [inline] |
| int pcl::Poisson< PointNT >::getDegree | ( | ) | [inline] |
| int pcl::Poisson< PointNT >::getDepth | ( | ) | [inline] |
| int pcl::Poisson< PointNT >::getIsoDivide | ( | ) | [inline] |
| bool pcl::Poisson< PointNT >::getManifold | ( | ) | [inline] |
| int pcl::Poisson< PointNT >::getMinDepth | ( | ) | [inline] |
| bool pcl::Poisson< PointNT >::getOutputPolygons | ( | ) | [inline] |
| float pcl::Poisson< PointNT >::getPointWeight | ( | ) | [inline] |
| float pcl::Poisson< PointNT >::getSamplesPerNode | ( | ) | [inline] |
| float pcl::Poisson< PointNT >::getScale | ( | ) | [inline] |
| int pcl::Poisson< PointNT >::getSolverDivide | ( | ) | [inline] |
| void pcl::Poisson< PointNT >::performReconstruction | ( | pcl::PolygonMesh & | output | ) | [virtual] |
Create the surface.
- Parameters:
-
[out] output the resultant polygonal mesh
Implements pcl::SurfaceReconstruction< PointNT >.
Definition at line 152 of file poisson.hpp.
References pcl::PolygonMesh::cloud, pcl::poisson::Point3D< Real >::coords, pcl::poisson::CoredMeshData::inCorePoints, pcl::poisson::CoredVectorMeshData::nextOutOfCorePoint(), pcl::poisson::CoredVectorMeshData::nextPolygon(), pcl::poisson::CoredVectorMeshData::outOfCorePointCount(), pcl::PointCloud< PointT >::points, pcl::poisson::CoredVectorMeshData::polygonCount(), pcl::PolygonMesh::polygons, pcl::toPCLPointCloud2(), and pcl::Vertices::vertices.
| void pcl::Poisson< PointNT >::performReconstruction | ( | pcl::PointCloud< PointNT > & | points, |
| std::vector< pcl::Vertices > & | polygons | ||
| ) | [virtual] |
Create the surface.
- Parameters:
-
[out] points the vertex positions of the resulting mesh [out] polygons the connectivity of the resulting mesh
Implements pcl::SurfaceReconstruction< PointNT >.
Definition at line 232 of file poisson.hpp.
References pcl::poisson::Point3D< Real >::coords, pcl::poisson::CoredMeshData::inCorePoints, pcl::poisson::CoredVectorMeshData::nextOutOfCorePoint(), pcl::poisson::CoredVectorMeshData::nextPolygon(), pcl::poisson::CoredVectorMeshData::outOfCorePointCount(), pcl::PointCloud< PointT >::points, pcl::poisson::CoredVectorMeshData::polygonCount(), and pcl::Vertices::vertices.
| void pcl::Poisson< PointNT >::setConfidence | ( | bool | confidence | ) | [inline] |
Set the confidence flag.
- Note:
- Enabling this flag tells the reconstructor to use the size of the normals as confidence information. When the flag is not enabled, all normals are normalized to have unit-length prior to reconstruction.
- Parameters:
-
[in] confidence the given flag
| void pcl::Poisson< PointNT >::setDegree | ( | int | degree | ) | [inline] |
| void pcl::Poisson< PointNT >::setDepth | ( | int | depth | ) | [inline] |
Set the maximum depth of the tree that will be used for surface reconstruction.
- Note:
- Running at depth d corresponds to solving on a voxel grid whose resolution is no larger than 2^d x 2^d x 2^d. Note that since the reconstructor adapts the octree to the sampling density, the specified reconstruction depth is only an upper bound.
- Parameters:
-
[in] depth the depth parameter
| void pcl::Poisson< PointNT >::setIsoDivide | ( | int | iso_divide | ) | [inline] |
Set the depth at which a block iso-surface extractor should be used to extract the iso-surface.
- Note:
- Using this parameter helps reduce the memory overhead at the cost of a small increase in extraction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)
- Parameters:
-
[in] iso_divide the given parameter value
| void pcl::Poisson< PointNT >::setManifold | ( | bool | manifold | ) | [inline] |
| void pcl::Poisson< PointNT >::setMinDepth | ( | int | min_depth | ) | [inline] |
| void pcl::Poisson< PointNT >::setOutputPolygons | ( | bool | output_polygons | ) | [inline] |
| void pcl::Poisson< PointNT >::setPointWeight | ( | float | point_weight | ) | [inline] |
| void pcl::Poisson< PointNT >::setSamplesPerNode | ( | float | samples_per_node | ) | [inline] |
Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density.
- Note:
- For noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples, larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.
- Parameters:
-
[in] samples_per_node the given parameter value
| void pcl::Poisson< PointNT >::setScale | ( | float | scale | ) | [inline] |
| void pcl::Poisson< PointNT >::setSolverDivide | ( | int | solver_divide | ) | [inline] |
Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation.
- Note:
- Using this parameter helps reduce the memory overhead at the cost of a small increase in reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)
- Parameters:
-
[in] solver_divide the given parameter value
The documentation for this class was generated from the following files:
- /tmp/buildd/pcl-1.7-1.7.0/surface/include/pcl/surface/poisson.h
- /tmp/buildd/pcl-1.7-1.7.0/surface/include/pcl/surface/impl/poisson.hpp