Point Cloud Library (PCL) 1.12.0
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organized_fast_mesh.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Dirk Holz, University of Bonn.
6 * Copyright (c) 2010-2011, Willow Garage, Inc.
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40
41#pragma once
42
43#include <pcl/common/angles.h>
44#include <pcl/common/point_tests.h> // for pcl::isFinite
45#include <pcl/surface/reconstruction.h>
46
47
48namespace pcl
49{
50
51 /** \brief Simple triangulation/surface reconstruction for organized point
52 * clouds. Neighboring points (pixels in image space) are connected to
53 * construct a triangular (or quad) mesh.
54 *
55 * \note If you use this code in any academic work, please cite:
56 * D. Holz and S. Behnke.
57 * Fast Range Image Segmentation and Smoothing using Approximate Surface Reconstruction and Region Growing.
58 * In Proceedings of the 12th International Conference on Intelligent Autonomous Systems (IAS),
59 * Jeju Island, Korea, June 26-29 2012.
60 * <a href="http://purl.org/holz/papers/holz_2012_ias.pdf">http://purl.org/holz/papers/holz_2012_ias.pdf</a>
61 *
62 * \author Dirk Holz, Radu B. Rusu
63 * \ingroup surface
64 */
65 template <typename PointInT>
66 class OrganizedFastMesh : public MeshConstruction<PointInT>
67 {
68 public:
69 using Ptr = shared_ptr<OrganizedFastMesh<PointInT> >;
70 using ConstPtr = shared_ptr<const OrganizedFastMesh<PointInT> >;
71
72 using MeshConstruction<PointInT>::input_;
73 using MeshConstruction<PointInT>::check_tree_;
74
76
77 using Polygons = std::vector<pcl::Vertices>;
78
80 {
81 TRIANGLE_RIGHT_CUT, // _always_ "cuts" a quad from top left to bottom right
82 TRIANGLE_LEFT_CUT, // _always_ "cuts" a quad from top right to bottom left
83 TRIANGLE_ADAPTIVE_CUT, // "cuts" where possible and prefers larger differences in 'z' direction
84 QUAD_MESH // create a simple quad mesh
85 };
86
87 /** \brief Constructor. Triangulation type defaults to \a QUAD_MESH. */
89 : max_edge_length_a_ (0.0f)
90 , max_edge_length_b_ (0.0f)
91 , max_edge_length_c_ (0.0f)
92 , max_edge_length_set_ (false)
97 , viewpoint_ (Eigen::Vector3f::Zero ())
98 , store_shadowed_faces_ (false)
99 , cos_angle_tolerance_ (std::abs (std::cos (pcl::deg2rad (12.5f))))
100 , distance_tolerance_ (-1.0f)
101 , distance_dependent_ (false)
103 {
104 check_tree_ = false;
105 };
106
107 /** \brief Destructor. */
109
110 /** \brief Set a maximum edge length.
111 * Using not only the scalar \a a, but also \a b and \a c, allows for using a distance threshold in the form of:
112 * threshold(x) = c*x*x + b*x + a
113 * \param[in] a scalar coefficient of the (distance-dependent polynom) threshold
114 * \param[in] b linear coefficient of the (distance-dependent polynom) threshold
115 * \param[in] c quadratic coefficient of the (distance-dependent polynom) threshold
116 */
117 inline void
118 setMaxEdgeLength (float a, float b = 0.0f, float c = 0.0f)
119 {
123 if ((max_edge_length_a_ + max_edge_length_b_ + max_edge_length_c_) > std::numeric_limits<float>::min())
125 else
126 max_edge_length_set_ = false;
127 };
128
129 inline void
131 {
132 max_edge_length_set_ = false;
133 }
134
135 /** \brief Set the edge length (in pixels) used for constructing the fixed mesh.
136 * \param[in] triangle_size edge length in pixels
137 * (Default: 1 = neighboring pixels are connected)
138 */
139 inline void
140 setTrianglePixelSize (int triangle_size)
141 {
142 setTrianglePixelSizeRows (triangle_size);
143 setTrianglePixelSizeColumns (triangle_size);
144 }
145
146 /** \brief Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.
147 * \param[in] triangle_size edge length in pixels
148 * (Default: 1 = neighboring pixels are connected)
149 */
150 inline void
151 setTrianglePixelSizeRows (int triangle_size)
152 {
153 triangle_pixel_size_rows_ = std::max (1, (triangle_size - 1));
154 }
155
156 /** \brief Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.
157 * \param[in] triangle_size edge length in pixels
158 * (Default: 1 = neighboring pixels are connected)
159 */
160 inline void
161 setTrianglePixelSizeColumns (int triangle_size)
162 {
163 triangle_pixel_size_columns_ = std::max (1, (triangle_size - 1));
164 }
165
166 /** \brief Set the triangulation type (see \a TriangulationType)
167 * \param[in] type quad mesh, triangle mesh with fixed left, right cut,
168 * or adaptive cut (splits a quad w.r.t. the depth (z) of the points)
169 */
170 inline void
175
176 /** \brief Set the viewpoint from where the input point cloud has been acquired.
177 * \param[in] viewpoint Vector containing the viewpoint coordinates (in the coordinate system of the data)
178 */
179 inline void setViewpoint (const Eigen::Vector3f& viewpoint)
180 {
181 viewpoint_ = viewpoint;
182 }
183
184 /** \brief Get the viewpoint from where the input point cloud has been acquired. */
185 const inline Eigen::Vector3f& getViewpoint () const
186 {
187 return viewpoint_;
188 }
189
190 /** \brief Store shadowed faces or not.
191 * \param[in] enable set to true to store shadowed faces
192 */
193 inline void
194 storeShadowedFaces (bool enable)
195 {
196 store_shadowed_faces_ = enable;
197 }
198
199 /** \brief Set the angle tolerance used for checking whether or not an edge is occluded.
200 * Standard values are 5deg to 15deg (input in rad!). Set a value smaller than zero to
201 * disable the check for shadowed edges.
202 * \param[in] angle_tolerance Angle tolerance (in rad). Set a value <0 to disable.
203 */
204 inline void
205 setAngleTolerance(float angle_tolerance)
206 {
207 if (angle_tolerance > 0)
208 cos_angle_tolerance_ = std::abs (std::cos (angle_tolerance));
209 else
210 cos_angle_tolerance_ = -1.0f;
211 }
212
213
214 inline void setDistanceTolerance(float distance_tolerance, bool depth_dependent = false)
215 {
216 distance_tolerance_ = distance_tolerance;
217 if (distance_tolerance_ < 0)
218 return;
219
220 distance_dependent_ = depth_dependent;
223 }
224
225 /** \brief Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpoint).
226 * \param[in] enable Set to true skips comptations and further speeds up computation by using depth instead of computing distance. false to disable. */
227 inline void useDepthAsDistance(bool enable)
228 {
229 use_depth_as_distance_ = enable;
230 }
231
232 protected:
233 /** \brief max length of edge, scalar component */
235 /** \brief max length of edge, scalar component */
237 /** \brief max length of edge, scalar component */
239 /** \brief flag whether or not edges are limited in length */
241
242 /** \brief flag whether or not max edge length is distance dependent. */
244
245 /** \brief size of triangle edges (in pixels) for iterating over rows. */
247
248 /** \brief size of triangle edges (in pixels) for iterating over columns*/
250
251 /** \brief Type of meshing scheme (quads vs. triangles, left cut vs. right cut ... */
253
254 /** \brief Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data). */
255 Eigen::Vector3f viewpoint_;
256
257 /** \brief Whether or not shadowed faces are stored, e.g., for exploration */
259
260 /** \brief (Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed. */
262
263 /** \brief distance tolerance for filtering out shadowed/occluded edges */
265
266 /** \brief flag whether or not \a distance_tolerance_ is distance dependent (multiplied by the squared distance to the point) or not. */
268
269 /** \brief flag whether or not the points' depths are used instead of measured distances (points' distances to the viewpoint).
270 This flag may be set using useDepthAsDistance(true) for (RGB-)Depth cameras to skip computations and gain additional speed up. */
272
273
274 /** \brief Perform the actual polygonal reconstruction.
275 * \param[out] polygons the resultant polygons
276 */
277 void
278 reconstructPolygons (std::vector<pcl::Vertices>& polygons);
279
280 /** \brief Create the surface.
281 * \param[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
282 */
283 void
284 performReconstruction (std::vector<pcl::Vertices> &polygons) override;
285
286 /** \brief Create the surface.
287 *
288 * Simply uses image indices to create an initial polygonal mesh for organized point clouds.
289 * \a indices_ are ignored!
290 *
291 * \param[out] output the resultant polygonal mesh
292 */
293 void
294 performReconstruction (pcl::PolygonMesh &output) override;
295
296 /** \brief Add a new triangle to the current polygon mesh
297 * \param[in] a index of the first vertex
298 * \param[in] b index of the second vertex
299 * \param[in] c index of the third vertex
300 * \param[in] idx the index in the set of polygon vertices (assumes \a idx is valid in \a polygons)
301 * \param[out] polygons the polygon mesh to be updated
302 */
303 inline void
304 addTriangle (int a, int b, int c, int idx, std::vector<pcl::Vertices>& polygons)
305 {
306 assert (idx < static_cast<int> (polygons.size ()));
307 polygons[idx].vertices.resize (3);
308 polygons[idx].vertices[0] = a;
309 polygons[idx].vertices[1] = b;
310 polygons[idx].vertices[2] = c;
311 }
312
313 /** \brief Add a new quad to the current polygon mesh
314 * \param[in] a index of the first vertex
315 * \param[in] b index of the second vertex
316 * \param[in] c index of the third vertex
317 * \param[in] d index of the fourth vertex
318 * \param[in] idx the index in the set of polygon vertices (assumes \a idx is valid in \a polygons)
319 * \param[out] polygons the polygon mesh to be updated
320 */
321 inline void
322 addQuad (int a, int b, int c, int d, int idx, std::vector<pcl::Vertices>& polygons)
323 {
324 assert (idx < static_cast<int> (polygons.size ()));
325 polygons[idx].vertices.resize (4);
326 polygons[idx].vertices[0] = a;
327 polygons[idx].vertices[1] = b;
328 polygons[idx].vertices[2] = c;
329 polygons[idx].vertices[3] = d;
330 }
331
332 /** \brief Set (all) coordinates of a particular point to the specified value
333 * \param[in] point_index index of point
334 * \param[out] mesh to modify
335 * \param[in] value value to use when re-setting
336 * \param[in] field_x_idx the X coordinate of the point
337 * \param[in] field_y_idx the Y coordinate of the point
338 * \param[in] field_z_idx the Z coordinate of the point
339 */
340 inline void
341 resetPointData (const int &point_index, pcl::PolygonMesh &mesh, const float &value = 0.0f,
342 int field_x_idx = 0, int field_y_idx = 1, int field_z_idx = 2)
343 {
344 float new_value = value;
345 memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_x_idx].offset], &new_value, sizeof (float));
346 memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_y_idx].offset], &new_value, sizeof (float));
347 memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_z_idx].offset], &new_value, sizeof (float));
348 }
349
350 /** \brief Check if a point is shadowed by another point
351 * \param[in] point_a the first point
352 * \param[in] point_b the second point
353 */
354 inline bool
355 isShadowed (const PointInT& point_a, const PointInT& point_b)
356 {
357 bool valid = true;
358
359 Eigen::Vector3f dir_a = viewpoint_ - point_a.getVector3fMap ();
360 Eigen::Vector3f dir_b = point_b.getVector3fMap () - point_a.getVector3fMap ();
361 float distance_to_points = dir_a.norm ();
362 float distance_between_points = dir_b.norm ();
363
364 if (cos_angle_tolerance_ > 0)
365 {
366 float cos_angle = dir_a.dot (dir_b) / (distance_to_points*distance_between_points);
367 if (std::isnan(cos_angle))
368 cos_angle = 1.0f;
369 bool check_angle = std::fabs (cos_angle) >= cos_angle_tolerance_;
370
371 bool check_distance = true;
372 if (check_angle && (distance_tolerance_ > 0))
373 {
374 float dist_thresh = distance_tolerance_;
376 {
377 float d = distance_to_points;
379 d = std::max(point_a.z, point_b.z);
380 dist_thresh *= d*d;
381 dist_thresh *= dist_thresh; // distance_tolerance_ is already squared if distance_dependent_ is false.
382 }
383 check_distance = (distance_between_points > dist_thresh);
384 }
385 valid = !(check_angle && check_distance);
386 }
387
388 // check if max. edge length is not exceeded
390 {
391 float dist = (use_depth_as_distance_ ? std::max(point_a.z, point_b.z) : distance_to_points);
392 float dist_thresh = max_edge_length_a_;
393 if (std::fabs(max_edge_length_b_) > std::numeric_limits<float>::min())
394 dist_thresh += max_edge_length_b_ * dist;
395 if (std::fabs(max_edge_length_c_) > std::numeric_limits<float>::min())
396 dist_thresh += max_edge_length_c_ * dist * dist;
397 valid = (distance_between_points <= dist_thresh);
398 }
399
400 return !valid;
401 }
402
403 /** \brief Check if a triangle is valid.
404 * \param[in] a index of the first vertex
405 * \param[in] b index of the second vertex
406 * \param[in] c index of the third vertex
407 */
408 inline bool
409 isValidTriangle (const int& a, const int& b, const int& c)
410 {
411 if (!pcl::isFinite ((*input_)[a])) return (false);
412 if (!pcl::isFinite ((*input_)[b])) return (false);
413 if (!pcl::isFinite ((*input_)[c])) return (false);
414 return (true);
415 }
416
417 /** \brief Check if a triangle is shadowed.
418 * \param[in] a index of the first vertex
419 * \param[in] b index of the second vertex
420 * \param[in] c index of the third vertex
421 */
422 inline bool
423 isShadowedTriangle (const int& a, const int& b, const int& c)
424 {
425 if (isShadowed ((*input_)[a], (*input_)[b])) return (true);
426 if (isShadowed ((*input_)[b], (*input_)[c])) return (true);
427 if (isShadowed ((*input_)[c], (*input_)[a])) return (true);
428 return (false);
429 }
430
431 /** \brief Check if a quad is valid.
432 * \param[in] a index of the first vertex
433 * \param[in] b index of the second vertex
434 * \param[in] c index of the third vertex
435 * \param[in] d index of the fourth vertex
436 */
437 inline bool
438 isValidQuad (const int& a, const int& b, const int& c, const int& d)
439 {
440 if (!pcl::isFinite ((*input_)[a])) return (false);
441 if (!pcl::isFinite ((*input_)[b])) return (false);
442 if (!pcl::isFinite ((*input_)[c])) return (false);
443 if (!pcl::isFinite ((*input_)[d])) return (false);
444 return (true);
445 }
446
447 /** \brief Check if a triangle is shadowed.
448 * \param[in] a index of the first vertex
449 * \param[in] b index of the second vertex
450 * \param[in] c index of the third vertex
451 * \param[in] d index of the fourth vertex
452 */
453 inline bool
454 isShadowedQuad (const int& a, const int& b, const int& c, const int& d)
455 {
456 if (isShadowed ((*input_)[a], (*input_)[b])) return (true);
457 if (isShadowed ((*input_)[b], (*input_)[c])) return (true);
458 if (isShadowed ((*input_)[c], (*input_)[d])) return (true);
459 if (isShadowed ((*input_)[d], (*input_)[a])) return (true);
460 return (false);
461 }
462
463 /** \brief Create a quad mesh.
464 * \param[out] polygons the resultant mesh
465 */
466 void
467 makeQuadMesh (std::vector<pcl::Vertices>& polygons);
468
469 /** \brief Create a right cut mesh.
470 * \param[out] polygons the resultant mesh
471 */
472 void
473 makeRightCutMesh (std::vector<pcl::Vertices>& polygons);
474
475 /** \brief Create a left cut mesh.
476 * \param[out] polygons the resultant mesh
477 */
478 void
479 makeLeftCutMesh (std::vector<pcl::Vertices>& polygons);
480
481 /** \brief Create an adaptive cut mesh.
482 * \param[out] polygons the resultant mesh
483 */
484 void
485 makeAdaptiveCutMesh (std::vector<pcl::Vertices>& polygons);
486 };
487}
488
489#ifdef PCL_NO_PRECOMPILE
490#include <pcl/surface/impl/organized_fast_mesh.hpp>
491#endif
Define standard C methods to do angle calculations.
MeshConstruction represents a base surface reconstruction class.
bool check_tree_
A flag specifying whether or not the derived reconstruction algorithm needs the search object tree.
Simple triangulation/surface reconstruction for organized point clouds.
void addTriangle(int a, int b, int c, int idx, std::vector< pcl::Vertices > &polygons)
Add a new triangle to the current polygon mesh.
bool isShadowedQuad(const int &a, const int &b, const int &c, const int &d)
Check if a triangle is shadowed.
shared_ptr< OrganizedFastMesh< PointInT > > Ptr
void makeRightCutMesh(std::vector< pcl::Vertices > &polygons)
Create a right cut mesh.
float distance_tolerance_
distance tolerance for filtering out shadowed/occluded edges
bool isValidQuad(const int &a, const int &b, const int &c, const int &d)
Check if a quad is valid.
std::vector< pcl::Vertices > Polygons
bool use_depth_as_distance_
flag whether or not the points' depths are used instead of measured distances (points' distances to t...
void useDepthAsDistance(bool enable)
Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpo...
void makeQuadMesh(std::vector< pcl::Vertices > &polygons)
Create a quad mesh.
float max_edge_length_b_
max length of edge, scalar component
Eigen::Vector3f viewpoint_
Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data).
float cos_angle_tolerance_
(Cosine of the) angle tolerance used when checking whether or not an edge between two points is shado...
int triangle_pixel_size_columns_
size of triangle edges (in pixels) for iterating over columns
void setViewpoint(const Eigen::Vector3f &viewpoint)
Set the viewpoint from where the input point cloud has been acquired.
void storeShadowedFaces(bool enable)
Store shadowed faces or not.
void addQuad(int a, int b, int c, int d, int idx, std::vector< pcl::Vertices > &polygons)
Add a new quad to the current polygon mesh.
void reconstructPolygons(std::vector< pcl::Vertices > &polygons)
Perform the actual polygonal reconstruction.
bool isValidTriangle(const int &a, const int &b, const int &c)
Check if a triangle is valid.
float max_edge_length_a_
max length of edge, scalar component
bool max_edge_length_dist_dependent_
flag whether or not max edge length is distance dependent.
void setTriangulationType(TriangulationType type)
Set the triangulation type (see TriangulationType)
shared_ptr< const OrganizedFastMesh< PointInT > > ConstPtr
void setTrianglePixelSize(int triangle_size)
Set the edge length (in pixels) used for constructing the fixed mesh.
typename pcl::PointCloud< PointInT >::Ptr PointCloudPtr
bool max_edge_length_set_
flag whether or not edges are limited in length
int triangle_pixel_size_rows_
size of triangle edges (in pixels) for iterating over rows.
void setMaxEdgeLength(float a, float b=0.0f, float c=0.0f)
Set a maximum edge length.
void setTrianglePixelSizeRows(int triangle_size)
Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.
bool distance_dependent_
flag whether or not distance_tolerance_ is distance dependent (multiplied by the squared distance to ...
bool store_shadowed_faces_
Whether or not shadowed faces are stored, e.g., for exploration.
void setDistanceTolerance(float distance_tolerance, bool depth_dependent=false)
bool isShadowedTriangle(const int &a, const int &b, const int &c)
Check if a triangle is shadowed.
float max_edge_length_c_
max length of edge, scalar component
const Eigen::Vector3f & getViewpoint() const
Get the viewpoint from where the input point cloud has been acquired.
void setTrianglePixelSizeColumns(int triangle_size)
Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.
void setAngleTolerance(float angle_tolerance)
Set the angle tolerance used for checking whether or not an edge is occluded.
bool isShadowed(const PointInT &point_a, const PointInT &point_b)
Check if a point is shadowed by another point.
void performReconstruction(std::vector< pcl::Vertices > &polygons) override
Create the surface.
TriangulationType triangulation_type_
Type of meshing scheme (quads vs.
void makeAdaptiveCutMesh(std::vector< pcl::Vertices > &polygons)
Create an adaptive cut mesh.
void makeLeftCutMesh(std::vector< pcl::Vertices > &polygons)
Create a left cut mesh.
void resetPointData(const int &point_index, pcl::PolygonMesh &mesh, const float &value=0.0f, int field_x_idx=0, int field_y_idx=1, int field_z_idx=2)
Set (all) coordinates of a particular point to the specified value.
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
shared_ptr< PointCloud< PointT > > Ptr
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition angles.hpp:67
Definition bfgs.h:10
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition point_tests.h:55
std::vector<::pcl::PCLPointField > fields
std::vector< std::uint8_t > data
::pcl::PCLPointCloud2 cloud
Definition PolygonMesh.h:21