Point Cloud Library (PCL)  1.9.1
organized_fast_mesh.h
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40 
41 #ifndef PCL_SURFACE_ORGANIZED_FAST_MESH_H_
42 #define PCL_SURFACE_ORGANIZED_FAST_MESH_H_
43 
44 #include <pcl/common/angles.h>
45 #include <pcl/surface/reconstruction.h>
46 
47 namespace pcl
48 {
49 
50  /** \brief Simple triangulation/surface reconstruction for organized point
51  * clouds. Neighboring points (pixels in image space) are connected to
52  * construct a triangular (or quad) mesh.
53  *
54  * \note If you use this code in any academic work, please cite:
55  * D. Holz and S. Behnke.
56  * Fast Range Image Segmentation and Smoothing using Approximate Surface Reconstruction and Region Growing.
57  * In Proceedings of the 12th International Conference on Intelligent Autonomous Systems (IAS),
58  * Jeju Island, Korea, June 26-29 2012.
59  * <a href="http://purl.org/holz/papers/holz_2012_ias.pdf">http://purl.org/holz/papers/holz_2012_ias.pdf</a>
60  *
61  * \author Dirk Holz, Radu B. Rusu
62  * \ingroup surface
63  */
64  template <typename PointInT>
65  class OrganizedFastMesh : public MeshConstruction<PointInT>
66  {
67  public:
68  typedef boost::shared_ptr<OrganizedFastMesh<PointInT> > Ptr;
69  typedef boost::shared_ptr<const OrganizedFastMesh<PointInT> > ConstPtr;
70 
73 
75 
76  typedef std::vector<pcl::Vertices> Polygons;
77 
79  {
80  TRIANGLE_RIGHT_CUT, // _always_ "cuts" a quad from top left to bottom right
81  TRIANGLE_LEFT_CUT, // _always_ "cuts" a quad from top right to bottom left
82  TRIANGLE_ADAPTIVE_CUT, // "cuts" where possible and prefers larger differences in 'z' direction
83  QUAD_MESH // create a simple quad mesh
84  };
85 
86  /** \brief Constructor. Triangulation type defaults to \a QUAD_MESH. */
88  : max_edge_length_a_ (0.0f)
89  , max_edge_length_b_ (0.0f)
90  , max_edge_length_c_ (0.0f)
91  , max_edge_length_set_ (false)
96  , viewpoint_ (Eigen::Vector3f::Zero ())
97  , store_shadowed_faces_ (false)
98  , cos_angle_tolerance_ (fabsf (cosf (pcl::deg2rad (12.5f))))
99  , distance_tolerance_ (-1.0f)
100  , distance_dependent_ (false)
101  , use_depth_as_distance_(false)
102  {
103  check_tree_ = false;
104  };
105 
106  /** \brief Destructor. */
107  virtual ~OrganizedFastMesh () {};
108 
109  /** \brief Set a maximum edge length.
110  * Using not only the scalar \a a, but also \a b and \a c, allows for using a distance threshold in the form of:
111  * threshold(x) = c*x*x + b*x + a
112  * \param[in] a scalar coefficient of the (distance-dependent polynom) threshold
113  * \param[in] b linear coefficient of the (distance-dependent polynom) threshold
114  * \param[in] c quadratic coefficient of the (distance-dependent polynom) threshold
115  */
116  inline void
117  setMaxEdgeLength (float a, float b = 0.0f, float c = 0.0f)
118  {
119  max_edge_length_a_ = a;
120  max_edge_length_b_ = b;
121  max_edge_length_c_ = c;
122  if ((max_edge_length_a_ + max_edge_length_b_ + max_edge_length_c_) > std::numeric_limits<float>::min())
123  max_edge_length_set_ = true;
124  else
125  max_edge_length_set_ = false;
126  };
127 
128  inline void
130  {
131  max_edge_length_set_ = false;
132  }
133 
134  /** \brief Set the edge length (in pixels) used for constructing the fixed mesh.
135  * \param[in] triangle_size edge length in pixels
136  * (Default: 1 = neighboring pixels are connected)
137  */
138  inline void
139  setTrianglePixelSize (int triangle_size)
140  {
141  setTrianglePixelSizeRows (triangle_size);
142  setTrianglePixelSizeColumns (triangle_size);
143  }
144 
145  /** \brief Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.
146  * \param[in] triangle_size edge length in pixels
147  * (Default: 1 = neighboring pixels are connected)
148  */
149  inline void
150  setTrianglePixelSizeRows (int triangle_size)
151  {
152  triangle_pixel_size_rows_ = std::max (1, (triangle_size - 1));
153  }
154 
155  /** \brief Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.
156  * \param[in] triangle_size edge length in pixels
157  * (Default: 1 = neighboring pixels are connected)
158  */
159  inline void
160  setTrianglePixelSizeColumns (int triangle_size)
161  {
162  triangle_pixel_size_columns_ = std::max (1, (triangle_size - 1));
163  }
164 
165  /** \brief Set the triangulation type (see \a TriangulationType)
166  * \param[in] type quad mesh, triangle mesh with fixed left, right cut,
167  * or adaptive cut (splits a quad w.r.t. the depth (z) of the points)
168  */
169  inline void
171  {
172  triangulation_type_ = type;
173  }
174 
175  /** \brief Set the viewpoint from where the input point cloud has been acquired.
176  * \param[in] viewpoint Vector containing the viewpoint coordinates (in the coordinate system of the data)
177  */
178  inline void setViewpoint (const Eigen::Vector3f& viewpoint)
179  {
180  viewpoint_ = viewpoint;
181  }
182 
183  /** \brief Get the viewpoint from where the input point cloud has been acquired. */
184  const inline Eigen::Vector3f& getViewpoint () const
185  {
186  return viewpoint_;
187  }
188 
189  /** \brief Store shadowed faces or not.
190  * \param[in] enable set to true to store shadowed faces
191  */
192  inline void
193  storeShadowedFaces (bool enable)
194  {
195  store_shadowed_faces_ = enable;
196  }
197 
198  /** \brief Set the angle tolerance used for checking whether or not an edge is occluded.
199  * Standard values are 5deg to 15deg (input in rad!). Set a value smaller than zero to
200  * disable the check for shadowed edges.
201  * \param[in] angle_tolerance Angle tolerance (in rad). Set a value <0 to disable.
202  */
203  inline void
204  setAngleTolerance(float angle_tolerance)
205  {
206  if (angle_tolerance > 0)
207  cos_angle_tolerance_ = fabsf (cosf (angle_tolerance));
208  else
209  cos_angle_tolerance_ = -1.0f;
210  }
211 
212 
213  inline void setDistanceTolerance(float distance_tolerance, bool depth_dependent = false)
214  {
215  distance_tolerance_ = distance_tolerance;
216  if (distance_tolerance_ < 0)
217  return;
218 
219  distance_dependent_ = depth_dependent;
220  if (!distance_dependent_)
222  }
223 
224  /** \brief Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpoint).
225  * \param[in] enable Set to true skips comptations and further speeds up computation by using depth instead of computing distance. false to disable. */
226  inline void useDepthAsDistance(bool enable)
227  {
228  use_depth_as_distance_ = enable;
229  }
230 
231  protected:
232  /** \brief max length of edge, scalar component */
234  /** \brief max length of edge, scalar component */
236  /** \brief max length of edge, scalar component */
238  /** \brief flag whether or not edges are limited in length */
240 
241  /** \brief flag whether or not max edge length is distance dependent. */
243 
244  /** \brief size of triangle edges (in pixels) for iterating over rows. */
246 
247  /** \brief size of triangle edges (in pixels) for iterating over columns*/
249 
250  /** \brief Type of meshing scheme (quads vs. triangles, left cut vs. right cut ... */
252 
253  /** \brief Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data). */
254  Eigen::Vector3f viewpoint_;
255 
256  /** \brief Whether or not shadowed faces are stored, e.g., for exploration */
258 
259  /** \brief (Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed. */
261 
262  /** \brief distance tolerance for filtering out shadowed/occluded edges */
264 
265  /** \brief flag whether or not \a distance_tolerance_ is distance dependent (multiplied by the squared distance to the point) or not. */
267 
268  /** \brief flag whether or not the points' depths are used instead of measured distances (points' distances to the viewpoint).
269  This flag may be set using useDepthAsDistance(true) for (RGB-)Depth cameras to skip computations and gain additional speed up. */
271 
272 
273  /** \brief Perform the actual polygonal reconstruction.
274  * \param[out] polygons the resultant polygons
275  */
276  void
277  reconstructPolygons (std::vector<pcl::Vertices>& polygons);
278 
279  /** \brief Create the surface.
280  * \param[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
281  */
282  virtual void
283  performReconstruction (std::vector<pcl::Vertices> &polygons);
284 
285  /** \brief Create the surface.
286  *
287  * Simply uses image indices to create an initial polygonal mesh for organized point clouds.
288  * \a indices_ are ignored!
289  *
290  * \param[out] output the resultant polygonal mesh
291  */
292  void
294 
295  /** \brief Add a new triangle to the current polygon mesh
296  * \param[in] a index of the first vertex
297  * \param[in] b index of the second vertex
298  * \param[in] c index of the third vertex
299  * \param[in] idx the index in the set of polygon vertices (assumes \a idx is valid in \a polygons)
300  * \param[out] polygons the polygon mesh to be updated
301  */
302  inline void
303  addTriangle (int a, int b, int c, int idx, std::vector<pcl::Vertices>& polygons)
304  {
305  assert (idx < static_cast<int> (polygons.size ()));
306  polygons[idx].vertices.resize (3);
307  polygons[idx].vertices[0] = a;
308  polygons[idx].vertices[1] = b;
309  polygons[idx].vertices[2] = c;
310  }
311 
312  /** \brief Add a new quad to the current polygon mesh
313  * \param[in] a index of the first vertex
314  * \param[in] b index of the second vertex
315  * \param[in] c index of the third vertex
316  * \param[in] d index of the fourth vertex
317  * \param[in] idx the index in the set of polygon vertices (assumes \a idx is valid in \a polygons)
318  * \param[out] polygons the polygon mesh to be updated
319  */
320  inline void
321  addQuad (int a, int b, int c, int d, int idx, std::vector<pcl::Vertices>& polygons)
322  {
323  assert (idx < static_cast<int> (polygons.size ()));
324  polygons[idx].vertices.resize (4);
325  polygons[idx].vertices[0] = a;
326  polygons[idx].vertices[1] = b;
327  polygons[idx].vertices[2] = c;
328  polygons[idx].vertices[3] = d;
329  }
330 
331  /** \brief Set (all) coordinates of a particular point to the specified value
332  * \param[in] point_index index of point
333  * \param[out] mesh to modify
334  * \param[in] value value to use when re-setting
335  * \param[in] field_x_idx the X coordinate of the point
336  * \param[in] field_y_idx the Y coordinate of the point
337  * \param[in] field_z_idx the Z coordinate of the point
338  */
339  inline void
340  resetPointData (const int &point_index, pcl::PolygonMesh &mesh, const float &value = 0.0f,
341  int field_x_idx = 0, int field_y_idx = 1, int field_z_idx = 2)
342  {
343  float new_value = value;
344  memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_x_idx].offset], &new_value, sizeof (float));
345  memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_y_idx].offset], &new_value, sizeof (float));
346  memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_z_idx].offset], &new_value, sizeof (float));
347  }
348 
349  /** \brief Check if a point is shadowed by another point
350  * \param[in] point_a the first point
351  * \param[in] point_b the second point
352  */
353  inline bool
354  isShadowed (const PointInT& point_a, const PointInT& point_b)
355  {
356  bool valid = true;
357 
358  Eigen::Vector3f dir_a = viewpoint_ - point_a.getVector3fMap ();
359  Eigen::Vector3f dir_b = point_b.getVector3fMap () - point_a.getVector3fMap ();
360  float distance_to_points = dir_a.norm ();
361  float distance_between_points = dir_b.norm ();
362 
363  if (cos_angle_tolerance_ > 0)
364  {
365  float cos_angle = dir_a.dot (dir_b) / (distance_to_points*distance_between_points);
366  if (cos_angle != cos_angle)
367  cos_angle = 1.0f;
368  bool check_angle = fabs (cos_angle) >= cos_angle_tolerance_;
369 
370  bool check_distance = true;
371  if (check_angle && (distance_tolerance_ > 0))
372  {
373  float dist_thresh = distance_tolerance_;
375  {
376  float d = distance_to_points;
378  d = std::max(point_a.z, point_b.z);
379  dist_thresh *= d*d;
380  dist_thresh *= dist_thresh; // distance_tolerance_ is already squared if distance_dependent_ is false.
381  }
382  check_distance = (distance_between_points > dist_thresh);
383  }
384  valid = !(check_angle && check_distance);
385  }
386 
387  // check if max. edge length is not exceeded
389  {
390  float dist = (use_depth_as_distance_ ? std::max(point_a.z, point_b.z) : distance_to_points);
391  float dist_thresh = max_edge_length_a_;
392  if (fabs(max_edge_length_b_) > std::numeric_limits<float>::min())
393  dist_thresh += max_edge_length_b_ * dist;
394  if (fabs(max_edge_length_c_) > std::numeric_limits<float>::min())
395  dist_thresh += max_edge_length_c_ * dist * dist;
396  valid = (distance_between_points <= dist_thresh);
397  }
398 
399  return !valid;
400  }
401 
402  /** \brief Check if a triangle is valid.
403  * \param[in] a index of the first vertex
404  * \param[in] b index of the second vertex
405  * \param[in] c index of the third vertex
406  */
407  inline bool
408  isValidTriangle (const int& a, const int& b, const int& c)
409  {
410  if (!pcl::isFinite (input_->points[a])) return (false);
411  if (!pcl::isFinite (input_->points[b])) return (false);
412  if (!pcl::isFinite (input_->points[c])) return (false);
413  return (true);
414  }
415 
416  /** \brief Check if a triangle is shadowed.
417  * \param[in] a index of the first vertex
418  * \param[in] b index of the second vertex
419  * \param[in] c index of the third vertex
420  */
421  inline bool
422  isShadowedTriangle (const int& a, const int& b, const int& c)
423  {
424  if (isShadowed (input_->points[a], input_->points[b])) return (true);
425  if (isShadowed (input_->points[b], input_->points[c])) return (true);
426  if (isShadowed (input_->points[c], input_->points[a])) return (true);
427  return (false);
428  }
429 
430  /** \brief Check if a quad is valid.
431  * \param[in] a index of the first vertex
432  * \param[in] b index of the second vertex
433  * \param[in] c index of the third vertex
434  * \param[in] d index of the fourth vertex
435  */
436  inline bool
437  isValidQuad (const int& a, const int& b, const int& c, const int& d)
438  {
439  if (!pcl::isFinite (input_->points[a])) return (false);
440  if (!pcl::isFinite (input_->points[b])) return (false);
441  if (!pcl::isFinite (input_->points[c])) return (false);
442  if (!pcl::isFinite (input_->points[d])) return (false);
443  return (true);
444  }
445 
446  /** \brief Check if a triangle is shadowed.
447  * \param[in] a index of the first vertex
448  * \param[in] b index of the second vertex
449  * \param[in] c index of the third vertex
450  * \param[in] d index of the fourth vertex
451  */
452  inline bool
453  isShadowedQuad (const int& a, const int& b, const int& c, const int& d)
454  {
455  if (isShadowed (input_->points[a], input_->points[b])) return (true);
456  if (isShadowed (input_->points[b], input_->points[c])) return (true);
457  if (isShadowed (input_->points[c], input_->points[d])) return (true);
458  if (isShadowed (input_->points[d], input_->points[a])) return (true);
459  return (false);
460  }
461 
462  /** \brief Create a quad mesh.
463  * \param[out] polygons the resultant mesh
464  */
465  void
466  makeQuadMesh (std::vector<pcl::Vertices>& polygons);
467 
468  /** \brief Create a right cut mesh.
469  * \param[out] polygons the resultant mesh
470  */
471  void
472  makeRightCutMesh (std::vector<pcl::Vertices>& polygons);
473 
474  /** \brief Create a left cut mesh.
475  * \param[out] polygons the resultant mesh
476  */
477  void
478  makeLeftCutMesh (std::vector<pcl::Vertices>& polygons);
479 
480  /** \brief Create an adaptive cut mesh.
481  * \param[out] polygons the resultant mesh
482  */
483  void
484  makeAdaptiveCutMesh (std::vector<pcl::Vertices>& polygons);
485  };
486 }
487 
488 #ifdef PCL_NO_PRECOMPILE
489 #include <pcl/surface/impl/organized_fast_mesh.hpp>
490 #endif
491 
492 #endif // PCL_SURFACE_ORGANIZED_FAST_MESH_H_
boost::shared_ptr< OrganizedFastMesh< PointInT > > Ptr
const Eigen::Vector3f & getViewpoint() const
Get the viewpoint from where the input point cloud has been acquired.
void setTriangulationType(TriangulationType type)
Set the triangulation type (see TriangulationType)
void makeQuadMesh(std::vector< pcl::Vertices > &polygons)
Create a quad mesh.
void setDistanceTolerance(float distance_tolerance, bool depth_dependent=false)
boost::shared_ptr< const OrganizedFastMesh< PointInT > > ConstPtr
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:54
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition: angles.hpp:67
bool check_tree_
A flag specifying whether or not the derived reconstruction algorithm needs the search object tree.
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.
void makeAdaptiveCutMesh(std::vector< pcl::Vertices > &polygons)
Create an adaptive cut mesh.
pcl::uint32_t point_step
Eigen::Vector3f viewpoint_
Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data).
Simple triangulation/surface reconstruction for organized point clouds.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
bool distance_dependent_
flag whether or not distance_tolerance_ is distance dependent (multiplied by the squared distance to ...
void setTrianglePixelSizeRows(int triangle_size)
Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.
void setTrianglePixelSize(int triangle_size)
Set the edge length (in pixels) used for constructing the fixed mesh.
virtual ~OrganizedFastMesh()
Destructor.
void makeLeftCutMesh(std::vector< pcl::Vertices > &polygons)
Create a left cut mesh.
void reconstructPolygons(std::vector< pcl::Vertices > &polygons)
Perform the actual polygonal reconstruction.
TriangulationType triangulation_type_
Type of meshing scheme (quads vs.
Definition: bfgs.h:10
int triangle_pixel_size_rows_
size of triangle edges (in pixels) for iterating over rows.
void makeRightCutMesh(std::vector< pcl::Vertices > &polygons)
Create a right cut mesh.
float max_edge_length_a_
max length of edge, scalar component
void setAngleTolerance(float angle_tolerance)
Set the angle tolerance used for checking whether or not an edge is occluded.
float max_edge_length_b_
max length of edge, scalar component
int triangle_pixel_size_columns_
size of triangle edges (in pixels) for iterating over columns
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
bool isValidTriangle(const int &a, const int &b, const int &c)
Check if a triangle is valid.
void setTrianglePixelSizeColumns(int triangle_size)
Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.
virtual void performReconstruction(std::vector< pcl::Vertices > &polygons)
Create the surface.
bool isShadowedQuad(const int &a, const int &b, const int &c, const int &d)
Check if a triangle is shadowed.
bool isValidQuad(const int &a, const int &b, const int &c, const int &d)
Check if a quad is valid.
void setMaxEdgeLength(float a, float b=0.0f, float c=0.0f)
Set a maximum edge length.
void setViewpoint(const Eigen::Vector3f &viewpoint)
Set the viewpoint from where the input point cloud has been acquired.
float max_edge_length_c_
max length of edge, scalar component
float cos_angle_tolerance_
(Cosine of the) angle tolerance used when checking whether or not an edge between two points is shado...
MeshConstruction represents a base surface reconstruction class.
std::vector< ::pcl::PCLPointField > fields
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 useDepthAsDistance(bool enable)
Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpo...
::pcl::PCLPointCloud2 cloud
Definition: PolygonMesh.h:22
void addTriangle(int a, int b, int c, int idx, std::vector< pcl::Vertices > &polygons)
Add a new triangle to the current polygon mesh.
std::vector< pcl::Vertices > Polygons
float distance_tolerance_
distance tolerance for filtering out shadowed/occluded edges
PointCloudConstPtr input_
The input point cloud dataset.
Definition: pcl_base.h:150
bool isShadowedTriangle(const int &a, const int &b, const int &c)
Check if a triangle is shadowed.
Define standard C methods to do angle calculations.
void storeShadowedFaces(bool enable)
Store shadowed faces or not.
bool max_edge_length_set_
flag whether or not edges are limited in length
bool use_depth_as_distance_
flag whether or not the points' depths are used instead of measured distances (points' distances to t...
bool isShadowed(const PointInT &point_a, const PointInT &point_b)
Check if a point is shadowed by another point.
bool store_shadowed_faces_
Whether or not shadowed faces are stored, e.g., for exploration.
std::vector< pcl::uint8_t > data
bool max_edge_length_dist_dependent_
flag whether or not max edge length is distance dependent.
pcl::PointCloud< PointInT >::Ptr PointCloudPtr