Point Cloud Library (PCL)
1.3.1
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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.
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.
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.
Please visit the tutorials on http://www.pointclouds.org for more information.
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. |
bool pcl::isVisible | ( | const Eigen::Vector2f & | X, |
const Eigen::Vector2f & | S1, | ||
const Eigen::Vector2f & | S2, | ||
const Eigen::Vector2f & | R = Eigen::Vector2f::Zero () |
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) | [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.
X | 2D coordinate of the point |
S1 | 2D coordinate of the segment's first point |
S2 | 2D coordinate of the segment's secont point |
R | 2D coorddinate of the reference point (defaults to 0,0) |