Point Cloud Library (PCL) 1.14.0
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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 {
90 check_tree_ = false;
91 };
92
93 /** \brief Destructor. */
94 ~OrganizedFastMesh () override = default;
95
96 /** \brief Set a maximum edge length.
97 * Using not only the scalar \a a, but also \a b and \a c, allows for using a distance threshold in the form of:
98 * threshold(x) = c*x*x + b*x + a
99 * \param[in] a scalar coefficient of the (distance-dependent polynom) threshold
100 * \param[in] b linear coefficient of the (distance-dependent polynom) threshold
101 * \param[in] c quadratic coefficient of the (distance-dependent polynom) threshold
102 */
103 inline void
104 setMaxEdgeLength (float a, float b = 0.0f, float c = 0.0f)
105 {
109 max_edge_length_set_ = (max_edge_length_a_ + max_edge_length_b_ + max_edge_length_c_) > std::numeric_limits<float>::min();
110 };
111
112 inline void
114 {
115 max_edge_length_set_ = false;
116 }
117
118 /** \brief Set the edge length (in pixels) used for constructing the fixed mesh.
119 * \param[in] triangle_size edge length in pixels
120 * (Default: 1 = neighboring pixels are connected)
121 */
122 inline void
123 setTrianglePixelSize (int triangle_size)
124 {
125 setTrianglePixelSizeRows (triangle_size);
126 setTrianglePixelSizeColumns (triangle_size);
127 }
128
129 /** \brief Set the edge length (in pixels) used for iterating over rows when constructing the fixed mesh.
130 * \param[in] triangle_size edge length in pixels
131 * (Default: 1 = neighboring pixels are connected)
132 */
133 inline void
134 setTrianglePixelSizeRows (int triangle_size)
135 {
136 triangle_pixel_size_rows_ = std::max (1, (triangle_size - 1));
137 }
138
139 /** \brief Set the edge length (in pixels) used for iterating over columns when constructing the fixed mesh.
140 * \param[in] triangle_size edge length in pixels
141 * (Default: 1 = neighboring pixels are connected)
142 */
143 inline void
144 setTrianglePixelSizeColumns (int triangle_size)
145 {
146 triangle_pixel_size_columns_ = std::max (1, (triangle_size - 1));
147 }
148
149 /** \brief Set the triangulation type (see \a TriangulationType)
150 * \param[in] type quad mesh, triangle mesh with fixed left, right cut,
151 * or adaptive cut (splits a quad w.r.t. the depth (z) of the points)
152 */
153 inline void
158
159 /** \brief Set the viewpoint from where the input point cloud has been acquired.
160 * \param[in] viewpoint Vector containing the viewpoint coordinates (in the coordinate system of the data)
161 */
162 inline void setViewpoint (const Eigen::Vector3f& viewpoint)
163 {
164 viewpoint_ = viewpoint;
165 }
166
167 /** \brief Get the viewpoint from where the input point cloud has been acquired. */
168 const inline Eigen::Vector3f& getViewpoint () const
169 {
170 return viewpoint_;
171 }
172
173 /** \brief Store shadowed faces or not.
174 * \param[in] enable set to true to store shadowed faces
175 */
176 inline void
177 storeShadowedFaces (bool enable)
178 {
179 store_shadowed_faces_ = enable;
180 }
181
182 /** \brief Set the angle tolerance used for checking whether or not an edge is occluded.
183 * Standard values are 5deg to 15deg (input in rad!). Set a value smaller than zero to
184 * disable the check for shadowed edges.
185 * \param[in] angle_tolerance Angle tolerance (in rad). Set a value <0 to disable.
186 */
187 inline void
188 setAngleTolerance(float angle_tolerance)
189 {
190 if (angle_tolerance > 0)
191 cos_angle_tolerance_ = std::abs (std::cos (angle_tolerance));
192 else
193 cos_angle_tolerance_ = -1.0f;
194 }
195
196
197 inline void setDistanceTolerance(float distance_tolerance, bool depth_dependent = false)
198 {
199 distance_tolerance_ = distance_tolerance;
200 if (distance_tolerance_ < 0)
201 return;
202
203 distance_dependent_ = depth_dependent;
206 }
207
208 /** \brief Use the points' depths (z-coordinates) instead of measured distances (points' distances to the viewpoint).
209 * \param[in] enable Set to true skips comptations and further speeds up computation by using depth instead of computing distance. false to disable. */
210 inline void useDepthAsDistance(bool enable)
211 {
212 use_depth_as_distance_ = enable;
213 }
214
215 protected:
216 /** \brief max length of edge, scalar component */
218 /** \brief max length of edge, scalar component */
220 /** \brief max length of edge, scalar component */
222 /** \brief flag whether or not edges are limited in length */
224
225 /** \brief flag whether or not max edge length is distance dependent. */
227
228 /** \brief size of triangle edges (in pixels) for iterating over rows. */
230
231 /** \brief size of triangle edges (in pixels) for iterating over columns*/
233
234 /** \brief Type of meshing scheme (quads vs. triangles, left cut vs. right cut ... */
236
237 /** \brief Viewpoint from which the point cloud has been acquired (in the same coordinate frame as the data). */
238 Eigen::Vector3f viewpoint_{Eigen::Vector3f::Zero ()};
239
240 /** \brief Whether or not shadowed faces are stored, e.g., for exploration */
242
243 /** \brief (Cosine of the) angle tolerance used when checking whether or not an edge between two points is shadowed. */
244 float cos_angle_tolerance_{std::abs (std::cos (pcl::deg2rad (12.5f)))};
245
246 /** \brief distance tolerance for filtering out shadowed/occluded edges */
248
249 /** \brief flag whether or not \a distance_tolerance_ is distance dependent (multiplied by the squared distance to the point) or not. */
251
252 /** \brief flag whether or not the points' depths are used instead of measured distances (points' distances to the viewpoint).
253 This flag may be set using useDepthAsDistance(true) for (RGB-)Depth cameras to skip computations and gain additional speed up. */
255
256
257 /** \brief Perform the actual polygonal reconstruction.
258 * \param[out] polygons the resultant polygons
259 */
260 void
261 reconstructPolygons (std::vector<pcl::Vertices>& polygons);
262
263 /** \brief Create the surface.
264 * \param[out] polygons the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.
265 */
266 void
267 performReconstruction (std::vector<pcl::Vertices> &polygons) override;
268
269 /** \brief Create the surface.
270 *
271 * Simply uses image indices to create an initial polygonal mesh for organized point clouds.
272 * \a indices_ are ignored!
273 *
274 * \param[out] output the resultant polygonal mesh
275 */
276 void
277 performReconstruction (pcl::PolygonMesh &output) override;
278
279 /** \brief Add a new triangle to the current polygon mesh
280 * \param[in] a index of the first vertex
281 * \param[in] b index of the second vertex
282 * \param[in] c index of the third vertex
283 * \param[in] idx the index in the set of polygon vertices (assumes \a idx is valid in \a polygons)
284 * \param[out] polygons the polygon mesh to be updated
285 */
286 inline void
287 addTriangle (int a, int b, int c, int idx, std::vector<pcl::Vertices>& polygons)
288 {
289 assert (idx < static_cast<int> (polygons.size ()));
290 polygons[idx].vertices.resize (3);
291 polygons[idx].vertices[0] = a;
292 polygons[idx].vertices[1] = b;
293 polygons[idx].vertices[2] = c;
294 }
295
296 /** \brief Add a new quad 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] d index of the fourth vertex
301 * \param[in] idx the index in the set of polygon vertices (assumes \a idx is valid in \a polygons)
302 * \param[out] polygons the polygon mesh to be updated
303 */
304 inline void
305 addQuad (int a, int b, int c, int d, int idx, std::vector<pcl::Vertices>& polygons)
306 {
307 assert (idx < static_cast<int> (polygons.size ()));
308 polygons[idx].vertices.resize (4);
309 polygons[idx].vertices[0] = a;
310 polygons[idx].vertices[1] = b;
311 polygons[idx].vertices[2] = c;
312 polygons[idx].vertices[3] = d;
313 }
314
315 /** \brief Set (all) coordinates of a particular point to the specified value
316 * \param[in] point_index index of point
317 * \param[out] mesh to modify
318 * \param[in] value value to use when re-setting
319 * \param[in] field_x_idx the X coordinate of the point
320 * \param[in] field_y_idx the Y coordinate of the point
321 * \param[in] field_z_idx the Z coordinate of the point
322 */
323 inline void
324 resetPointData (const int &point_index, pcl::PolygonMesh &mesh, const float &value = 0.0f,
325 int field_x_idx = 0, int field_y_idx = 1, int field_z_idx = 2)
326 {
327 float new_value = value;
328 memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_x_idx].offset], &new_value, sizeof (float));
329 memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_y_idx].offset], &new_value, sizeof (float));
330 memcpy (&mesh.cloud.data[point_index * mesh.cloud.point_step + mesh.cloud.fields[field_z_idx].offset], &new_value, sizeof (float));
331 }
332
333 /** \brief Check if a point is shadowed by another point
334 * \param[in] point_a the first point
335 * \param[in] point_b the second point
336 */
337 inline bool
338 isShadowed (const PointInT& point_a, const PointInT& point_b)
339 {
340 bool valid = true;
341
342 Eigen::Vector3f dir_a = viewpoint_ - point_a.getVector3fMap ();
343 Eigen::Vector3f dir_b = point_b.getVector3fMap () - point_a.getVector3fMap ();
344 float distance_to_points = dir_a.norm ();
345 float distance_between_points = dir_b.norm ();
346
347 if (cos_angle_tolerance_ > 0)
348 {
349 float cos_angle = dir_a.dot (dir_b) / (distance_to_points*distance_between_points);
350 if (std::isnan(cos_angle))
351 cos_angle = 1.0f;
352 bool check_angle = std::fabs (cos_angle) >= cos_angle_tolerance_;
353
354 bool check_distance = true;
355 if (check_angle && (distance_tolerance_ > 0))
356 {
357 float dist_thresh = distance_tolerance_;
359 {
360 float d = distance_to_points;
362 d = std::max(point_a.z, point_b.z);
363 dist_thresh *= d*d;
364 dist_thresh *= dist_thresh; // distance_tolerance_ is already squared if distance_dependent_ is false.
365 }
366 check_distance = (distance_between_points > dist_thresh);
367 }
368 valid = !(check_angle && check_distance);
369 }
370
371 // check if max. edge length is not exceeded
373 {
374 float dist = (use_depth_as_distance_ ? std::max(point_a.z, point_b.z) : distance_to_points);
375 float dist_thresh = max_edge_length_a_;
376 if (std::fabs(max_edge_length_b_) > std::numeric_limits<float>::min())
377 dist_thresh += max_edge_length_b_ * dist;
378 if (std::fabs(max_edge_length_c_) > std::numeric_limits<float>::min())
379 dist_thresh += max_edge_length_c_ * dist * dist;
380 valid = (distance_between_points <= dist_thresh);
381 }
382
383 return !valid;
384 }
385
386 /** \brief Check if a triangle is valid.
387 * \param[in] a index of the first vertex
388 * \param[in] b index of the second vertex
389 * \param[in] c index of the third vertex
390 */
391 inline bool
392 isValidTriangle (const int& a, const int& b, const int& c)
393 {
394 if (!pcl::isFinite ((*input_)[a])) return (false);
395 if (!pcl::isFinite ((*input_)[b])) return (false);
396 if (!pcl::isFinite ((*input_)[c])) return (false);
397 return (true);
398 }
399
400 /** \brief Check if a triangle is shadowed.
401 * \param[in] a index of the first vertex
402 * \param[in] b index of the second vertex
403 * \param[in] c index of the third vertex
404 */
405 inline bool
406 isShadowedTriangle (const int& a, const int& b, const int& c)
407 {
408 if (isShadowed ((*input_)[a], (*input_)[b])) return (true);
409 if (isShadowed ((*input_)[b], (*input_)[c])) return (true);
410 if (isShadowed ((*input_)[c], (*input_)[a])) return (true);
411 return (false);
412 }
413
414 /** \brief Check if a quad is valid.
415 * \param[in] a index of the first vertex
416 * \param[in] b index of the second vertex
417 * \param[in] c index of the third vertex
418 * \param[in] d index of the fourth vertex
419 */
420 inline bool
421 isValidQuad (const int& a, const int& b, const int& c, const int& d)
422 {
423 if (!pcl::isFinite ((*input_)[a])) return (false);
424 if (!pcl::isFinite ((*input_)[b])) return (false);
425 if (!pcl::isFinite ((*input_)[c])) return (false);
426 if (!pcl::isFinite ((*input_)[d])) return (false);
427 return (true);
428 }
429
430 /** \brief Check if a triangle is shadowed.
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 isShadowedQuad (const int& a, const int& b, const int& c, const int& d)
438 {
439 if (isShadowed ((*input_)[a], (*input_)[b])) return (true);
440 if (isShadowed ((*input_)[b], (*input_)[c])) return (true);
441 if (isShadowed ((*input_)[c], (*input_)[d])) return (true);
442 if (isShadowed ((*input_)[d], (*input_)[a])) return (true);
443 return (false);
444 }
445
446 /** \brief Create a quad mesh.
447 * \param[out] polygons the resultant mesh
448 */
449 void
450 makeQuadMesh (std::vector<pcl::Vertices>& polygons);
451
452 /** \brief Create a right cut mesh.
453 * \param[out] polygons the resultant mesh
454 */
455 void
456 makeRightCutMesh (std::vector<pcl::Vertices>& polygons);
457
458 /** \brief Create a left cut mesh.
459 * \param[out] polygons the resultant mesh
460 */
461 void
462 makeLeftCutMesh (std::vector<pcl::Vertices>& polygons);
463
464 /** \brief Create an adaptive cut mesh.
465 * \param[out] polygons the resultant mesh
466 */
467 void
468 makeAdaptiveCutMesh (std::vector<pcl::Vertices>& polygons);
469 };
470}
471
472#ifdef PCL_NO_PRECOMPILE
473#include <pcl/surface/impl/organized_fast_mesh.hpp>
474#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.
~OrganizedFastMesh() override=default
Destructor.
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
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:20