MovingLeastSquaresOMP represent an OpenMP implementation of the MLS (Moving Least Squares) algorithm for data smoothing and improved normal estimation. More...

#include <pcl/surface/mls_omp.h>

Inheritance diagram for pcl::MovingLeastSquaresOMP< PointInT, PointOutT >:

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Collaboration diagram for pcl::MovingLeastSquaresOMP< PointInT, PointOutT >:

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Public Types
enum	UpsamplingMethod { NONE, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION }

typedef pcl::search::Search < PointInT >	KdTree

typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr

typedef pcl::PointCloud < pcl::Normal >::Ptr	NormalCloudPtr

typedef PointCloudOut::Ptr	PointCloudOutPtr

typedef PointCloudOut::ConstPtr	PointCloudOutConstPtr

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)>	SearchMethod

typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	MovingLeastSquaresOMP ()
	Empty constructor. More...

	MovingLeastSquaresOMP (unsigned int nr_threads)
	Initialize the scheduler and set the number of threads to use. More...

void	setNumberOfThreads (unsigned int nr_threads)
	Initialize the scheduler and set the number of threads to use. More...

void	setComputeNormals (bool compute_normals)
	Set whether the algorithm should also store the normals computed. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...

void	setPolynomialOrder (int order)
	Set the order of the polynomial to be fit. More...

int	getPolynomialOrder ()
	Get the order of the polynomial to be fit. More...

void	setPolynomialFit (bool polynomial_fit)
	Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation. More...

bool	getPolynomialFit ()
	Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial). More...

void	setSearchRadius (double radius)
	Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting. More...

double	getSearchRadius ()
	Get the sphere radius used for determining the k-nearest neighbors. More...

void	setSqrGaussParam (double sqr_gauss_param)
	Set the parameter used for distance based weighting of neighbors (the square of the search radius works best in general). More...

double	getSqrGaussParam () const
	Get the parameter for distance based weighting of neighbors. More...

void	setUpsamplingMethod (UpsamplingMethod method)
	Set the upsampling method to be used. More...

void	setUpsamplingRadius (double radius)
	Set the radius of the circle in the local point plane that will be sampled. More...

double	getUpsamplingRadius ()
	Get the radius of the circle in the local point plane that will be sampled. More...

void	setUpsamplingStepSize (double step_size)
	Set the step size for the local plane sampling. More...

double	getUpsamplingStepSize ()
	Get the step size for the local plane sampling. More...

void	setPointDensity (int desired_num_points_in_radius)
	Set the parameter that specifies the desired number of points within the search radius. More...

int	getPointDensity ()
	Get the parameter that specifies the desired number of points within the search radius. More...

void	setDilationVoxelSize (float voxel_size)
	Set the voxel size for the voxel grid. More...

float	getDilationVoxelSize ()
	Get the voxel size for the voxel grid. More...

void	setDilationIterations (int iterations)
	Set the number of dilation steps of the voxel grid. More...

int	getDilationIterations ()
	Get the number of dilation steps of the voxel grid. More...

void	process (PointCloudOut &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::MovingLeastSquaresOMP< PointInT, PointOutT >

MovingLeastSquaresOMP represent an OpenMP implementation of the MLS (Moving Least Squares) algorithm for data smoothing and improved normal estimation.

Author: Radu B. Rusu

Definition at line 53 of file mls_omp.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT> pcl::MovingLeastSquares< PointInT, PointOutT >::KdTree

inherited

Definition at line 75 of file mls.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::MovingLeastSquares< PointInT, PointOutT >::KdTreePtr

inherited

Definition at line 76 of file mls.h.

template<typename PointInT, typename PointOutT>

typedef pcl::PointCloud<pcl::Normal>::Ptr pcl::MovingLeastSquares< PointInT, PointOutT >::NormalCloudPtr

inherited

Definition at line 78 of file mls.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.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::ConstPtr pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudInConstPtr

inherited

Definition at line 86 of file mls.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::Ptr pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudInPtr

inherited

Definition at line 85 of file mls.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudOut::ConstPtr pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudOutConstPtr

inherited

Definition at line 82 of file mls.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudOut::Ptr pcl::MovingLeastSquares< PointInT, PointOutT >::PointCloudOutPtr

inherited

Definition at line 81 of file mls.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr

inherited

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.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::MovingLeastSquares< PointInT, PointOutT >::SearchMethod

inherited

Definition at line 88 of file mls.h.

Member Enumeration Documentation

template<typename PointInT, typename PointOutT>

enum pcl::MovingLeastSquares::UpsamplingMethod

inherited

Enumerator
NONE
SAMPLE_LOCAL_PLANE
RANDOM_UNIFORM_DENSITY
VOXEL_GRID_DILATION

Definition at line 90 of file mls.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT >

pcl::MovingLeastSquaresOMP< PointInT, PointOutT >::MovingLeastSquaresOMP ( )

inline

Empty constructor.

Definition at line 79 of file mls_omp.h.

template<typename PointInT , typename PointOutT >

pcl::MovingLeastSquaresOMP< PointInT, PointOutT >::MovingLeastSquaresOMP ( unsigned int nr_threads )

inline

Initialize the scheduler and set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 85 of file mls_omp.h.

Member Function Documentation

template<typename PointInT, typename PointOutT>

int pcl::MovingLeastSquares< PointInT, PointOutT >::getDilationIterations ( )

inlineinherited

Get the number of dilation steps of the voxel grid.

Note: Used only in the VOXEL_GRID_DILATION upsampling method

Definition at line 265 of file mls.h.

template<typename PointInT, typename PointOutT>

float pcl::MovingLeastSquares< PointInT, PointOutT >::getDilationVoxelSize ( )

inlineinherited

Get the voxel size for the voxel grid.

Note: Used only in the VOXEL_GRID_DILATION upsampling method

Definition at line 252 of file mls.h.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

int pcl::MovingLeastSquares< PointInT, PointOutT >::getPointDensity ( )

inlineinherited

Get the parameter that specifies the desired number of points within the search radius.

Note: Used only in the case of RANDOM_UNIFORM_DENSITY upsampling

Definition at line 238 of file mls.h.

template<typename PointInT, typename PointOutT>

bool pcl::MovingLeastSquares< PointInT, PointOutT >::getPolynomialFit ( )

inlineinherited

Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial).

Definition at line 154 of file mls.h.

template<typename PointInT, typename PointOutT>

int pcl::MovingLeastSquares< PointInT, PointOutT >::getPolynomialOrder ( )

inlineinherited

Get the order of the polynomial to be fit.

Definition at line 144 of file mls.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::MovingLeastSquares< PointInT, PointOutT >::getSearchMethod ( )

inlineinherited

Get a pointer to the search method used.

Definition at line 134 of file mls.h.

template<typename PointInT, typename PointOutT>

double pcl::MovingLeastSquares< PointInT, PointOutT >::getSearchRadius ( )

inlineinherited

Get the sphere radius used for determining the k-nearest neighbors.

Definition at line 165 of file mls.h.

template<typename PointInT, typename PointOutT>

double pcl::MovingLeastSquares< PointInT, PointOutT >::getSqrGaussParam ( ) const

inlineinherited

Get the parameter for distance based weighting of neighbors.

Definition at line 176 of file mls.h.

template<typename PointInT, typename PointOutT>

double pcl::MovingLeastSquares< PointInT, PointOutT >::getUpsamplingRadius ( )

inlineinherited

Get the radius of the circle in the local point plane that will be sampled.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Definition at line 209 of file mls.h.

template<typename PointInT, typename PointOutT>

double pcl::MovingLeastSquares< PointInT, PointOutT >::getUpsamplingStepSize ( )

inlineinherited

Get the step size for the local plane sampling.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Definition at line 223 of file mls.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos )

inlineinherited

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 , typename PointOutT >

void pcl::MovingLeastSquares< PointInT, PointOutT >::process ( PointCloudOut & output )

virtualinherited

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

Parameters

[out] output the resultant reconstructed surface model

Reimplemented from pcl::CloudSurfaceProcessing< PointInT, PointOutT >.

Definition at line 52 of file mls.hpp.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setComputeNormals ( bool compute_normals )

inlineinherited

Set whether the algorithm should also store the normals computed.

Note: This is optional, but need a proper output cloud type

Definition at line 118 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setDilationIterations ( int iterations )

inlineinherited

Set the number of dilation steps of the voxel grid.

Note: Used only in the VOXEL_GRID_DILATION upsampling method

Parameters

[in] iterations the number of dilation iterations

Definition at line 259 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setDilationVoxelSize ( float voxel_size )

inlineinherited

Set the voxel size for the voxel grid.

Note: Used only in the VOXEL_GRID_DILATION upsampling method

Parameters

[in] voxel_size the edge length of a cubic voxel in the voxel grid

Definition at line 245 of file mls.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices )

inlineinherited

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 )

inlineinherited

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 )

inlineinherited

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
	)

inlineinherited

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 )

inlinevirtualinherited

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 , typename PointOutT >

void pcl::MovingLeastSquaresOMP< PointInT, PointOutT >::setNumberOfThreads ( unsigned int nr_threads )

inline

Initialize the scheduler and set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 94 of file mls_omp.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setPointDensity ( int desired_num_points_in_radius )

inlineinherited

Set the parameter that specifies the desired number of points within the search radius.

Note: Used only in the case of RANDOM_UNIFORM_DENSITY upsampling

Parameters

[in] desired_num_points_in_radius the desired number of points in the output cloud in a sphere of radius search_radius_ around each point

Definition at line 231 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setPolynomialFit ( bool polynomial_fit )

inlineinherited

Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation.

Parameters

[in] polynomial_fit set to true for polynomial fit

Definition at line 150 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setPolynomialOrder ( int order )

inlineinherited

Set the order of the polynomial to be fit.

Parameters

[in] order the order of the polynomial

Definition at line 140 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree )

inlineinherited

Provide a pointer to the search object.

Parameters

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

Definition at line 124 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setSearchRadius ( double radius )

inlineinherited

Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting.

Parameters

[in] radius the sphere radius that is to contain all k-nearest neighbors

Note: Calling this method resets the squared Gaussian parameter to radius * radius !

Definition at line 161 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setSqrGaussParam ( double sqr_gauss_param )

inlineinherited

Set the parameter used for distance based weighting of neighbors (the square of the search radius works best in general).

Parameters

[in] sqr_gauss_param the squared Gaussian parameter

Definition at line 172 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingMethod ( UpsamplingMethod method )

inlineinherited

Set the upsampling method to be used.

Note

Options are: * NONE - no upsampling will be done, only the input points will be projected to their own MLS surfaces

SAMPLE_LOCAL_PLANE - the local plane of each input point will be sampled in a circular fashion using the upsampling_radius_ and the upsampling_step_ parameters
RANDOM_UNIFORM_DENSITY - the local plane of each input point will be sampled using an uniform random distribution such that the density of points is constant throughout the cloud - given by the desired_num_points_in_radius_ parameter
VOXEL_GRID_DILATION - the input cloud will be inserted into a voxel grid with voxels of size voxel_size_; this voxel grid will be dilated dilation_iteration_num_ times and the resulting points will be projected to the MLS surface of the closest point in the input cloud; the result is a point cloud with filled holes and a constant point density

Definition at line 195 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingRadius ( double radius )

inlineinherited

Set the radius of the circle in the local point plane that will be sampled.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Parameters

[in] radius the radius of the circle

Definition at line 203 of file mls.h.

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::setUpsamplingStepSize ( double step_size )

inlineinherited

Set the step size for the local plane sampling.

Note: Used only in the case of SAMPLE_LOCAL_PLANE upsampling

Parameters

[in] step_size the step size

Definition at line 216 of file mls.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/mls_omp.h
/builddir/build/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/impl/mls_omp.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::MovingLeastSquaresOMP< PointInT, PointOutT >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename PointOutT>
class pcl::MovingLeastSquaresOMP< PointInT, PointOutT >