Point Cloud Library (PCL)  1.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
surface.h
Go to the documentation of this file.
1 #ifndef SURFACE_H_
2 #define SURFACE_H_
3 
4 #include <pcl/kdtree/kdtree_flann.h>
5 #include <pcl/surface/mls.h>
6 #include <pcl/surface/convex_hull.h>
7 #include <pcl/surface/concave_hull.h>
8 #include <pcl/surface/gp3.h>
9 #include <pcl/surface/marching_cubes_greedy.h>
10 
11 #include "typedefs.h"
12 
13 
14 class Mesh
15 {
16  public:
17  Mesh () : points (new PointCloud) {}
18  PointCloudPtr points;
19  std::vector<pcl::Vertices> faces;
20 };
21 
22 typedef boost::shared_ptr<Mesh> MeshPtr;
23 
24 PointCloudPtr
25 smoothPointCloud (const PointCloudPtr & input, float radius, int polynomial_order)
26 {
27  pcl::MovingLeastSquares<PointT, NormalT> mls;
28  mls.setSearchMethod (pcl::KdTreeFLANN<PointT>::Ptr (new pcl::KdTreeFLANN<PointT>));
29  mls.setSearchRadius (radius);
30  mls.setSqrGaussParam (radius*radius);
31  mls.setPolynomialFit (polynomial_order > 1);
32  mls.setPolynomialOrder (polynomial_order);
33 
34  mls.setInputCloud (input);
35 
36  PointCloudPtr output (new PointCloud);
37  mls.reconstruct (*output);
38 
39  return (output);
40 }
41 
42 SurfaceElementsPtr
43 computeSurfaceElements (const PointCloudPtr & input, float radius, int polynomial_order)
44 {
45  pcl::MovingLeastSquares<PointT, NormalT> mls;
46  mls.setSearchMethod (pcl::KdTreeFLANN<PointT>::Ptr (new pcl::KdTreeFLANN<PointT>));
47  mls.setSearchRadius (radius);
48  mls.setSqrGaussParam (radius*radius);
49  mls.setPolynomialFit (polynomial_order > 1);
50  mls.setPolynomialOrder (polynomial_order);
51 
52  mls.setInputCloud (input);
53 
54  PointCloudPtr points (new PointCloud);
55  SurfaceNormalsPtr normals (new SurfaceNormals);
56  mls.setOutputNormals (normals);
57  mls.reconstruct (*points);
58 
59  SurfaceElementsPtr surfels (new SurfaceElements);
60  pcl::copyPointCloud (*points, *surfels);
61  pcl::copyPointCloud (*normals, *surfels);
62  return (surfels);
63 }
64 
65 MeshPtr
66 computeConvexHull (const PointCloudPtr & input)
67 {
68  pcl::ConvexHull<PointT> convex_hull;
69  convex_hull.setInputCloud (input);
70 
71  MeshPtr output (new Mesh);
72  convex_hull.reconstruct (*(output->points), output->faces);
73 
74  return (output);
75 }
76 
77 
78 MeshPtr
79 computeConcaveHull (const PointCloudPtr & input, float alpha)
80 {
81  pcl::ConcaveHull<PointT> concave_hull;
82  concave_hull.setInputCloud (input);
83  concave_hull.setAlpha (alpha);
84 
85  MeshPtr output (new Mesh);
86  concave_hull.reconstruct (*(output->points), output->faces);
87 
88  return (output);
89 }
90 
91 pcl::PolygonMesh::Ptr
92 greedyTriangulation (const SurfaceElementsPtr & surfels, float radius, float mu, int max_nearest_neighbors,
93  float max_surface_angle, float min_angle, float max_angle)
94 
95 {
96  pcl::GreedyProjectionTriangulation<pcl::PointNormal> gpt;
97  gpt.setSearchMethod (pcl::KdTreeFLANN<pcl::PointNormal>::Ptr (new pcl::KdTreeFLANN<pcl::PointNormal>));
98 
99  gpt.setSearchRadius (radius);
100  gpt.setMaximumNearestNeighbors (max_nearest_neighbors);
101  gpt.setMu (mu);
102  gpt.setMaximumSurfaceAgle (max_surface_angle);
103  gpt.setMinimumAngle (min_angle);
104  gpt.setMaximumAngle (max_angle);
105  gpt.setNormalConsistency (true);
106 
107  gpt.setInputCloud (surfels);
108  pcl::PolygonMesh::Ptr output (new pcl::PolygonMesh);
109  gpt.reconstruct (*output);
110 
111  return (output);
112 }
113 
114 
115 pcl::PolygonMesh::Ptr
116 marchingCubesTriangulation (const SurfaceElementsPtr & surfels, float leaf_size, float iso_level)
117 {
118  pcl::MarchingCubesGreedy<SurfelT> marching_cubes;
119  marching_cubes.setSearchMethod (pcl::KdTree<SurfelT>::Ptr (new pcl::KdTreeFLANN<SurfelT> ()));
120  marching_cubes.setLeafSize (leaf_size);
121  marching_cubes.setIsoLevel (iso_level);
122 
123  marching_cubes.setInputCloud (surfels);
124  pcl::PolygonMesh::Ptr output (new pcl::PolygonMesh);
125  marching_cubes.reconstruct (*output);
126 
127  return (output);
128 }
129 
130 #endif
Generated on Fri Mar 8 2013 12:50:45 for Point Cloud Library (PCL) by   doxygen 1.8.3.1