44 #include <pcl/pcl_base.h>
45 #include <pcl/search/pcl_search.h>
46 #include <pcl/common/common.h>
48 #include <pcl/surface/boost.h>
49 #include <pcl/surface/eigen.h>
50 #include <pcl/surface/processing.h>
52 #include <boost/function.hpp>
87 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
94 MLSResult (
const Eigen::Vector3d &a_query_point,
95 const Eigen::Vector3d &a_mean,
96 const Eigen::Vector3d &a_plane_normal,
97 const Eigen::Vector3d &a_u,
98 const Eigen::Vector3d &a_v,
99 const Eigen::VectorXd &a_c_vec,
100 const int a_num_neighbors,
101 const float a_curvature,
111 getMLSCoordinates (
const Eigen::Vector3d &pt,
double &u,
double &v,
double &w)
const;
134 inline PolynomialPartialDerivative
143 inline Eigen::Vector2f
155 inline MLSProjectionResults
163 inline MLSProjectionResults
172 inline MLSProjectionResults
184 inline MLSProjectionResults
195 inline MLSProjectionResults
205 template <
typename Po
intT>
void
208 const std::vector<int> &nn_indices,
209 double search_radius,
210 int polynomial_order = 2,
211 boost::function<
double(
const double)> weight_func = 0);
223 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
232 double computeMLSWeight (
const double sq_dist,
const double sq_mls_radius) {
return (exp (-sq_dist / sq_mls_radius)); }
249 template <
typename Po
intInT,
typename Po
intOutT>
253 typedef boost::shared_ptr<MovingLeastSquares<PointInT, PointOutT> >
Ptr;
254 typedef boost::shared_ptr<const MovingLeastSquares<PointInT, PointOutT> >
ConstPtr;
275 typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)>
SearchMethod;
317 rng_uniform_distribution_ ()
338 int (KdTree::*radiusSearch)(
int index,
double radius, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
unsigned int max_nn)
const = &
KdTree::radiusSearch;
360 PCL_DEPRECATED (
"[pcl::surface::MovingLeastSquares::setPolynomialFit] setPolynomialFit is deprecated. Please use setPolynomialOrder instead.")
378 PCL_DEPRECATED (
"[pcl::surface::MovingLeastSquares::getPolynomialFit] getPolynomialFit is deprecated. Please use getPolynomialOrder instead.")
415 inline PointCloudInConstPtr
516 inline const std::vector<MLSResult>&
532 process (PointCloudOut &output);
627 index_3d[1] =
static_cast<Eigen::Vector3i::Scalar
> (index_1d /
data_size_);
629 index_3d[2] =
static_cast<Eigen::Vector3i::Scalar
> (index_1d);
635 for (
int i = 0; i < 3; ++i)
640 getPosition (
const uint64_t &index_1d, Eigen::Vector3f &point)
const
642 Eigen::Vector3i index_3d;
644 for (
int i = 0; i < 3; ++i)
653 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
677 return (search_method_ (index, search_radius_, indices, sqr_distances));
693 const std::vector<int> &nn_indices,
694 PointCloudOut &projected_points,
695 NormalCloud &projected_points_normals,
711 const Eigen::Vector3d &point,
712 const Eigen::Vector3d &normal,
714 PointCloudOut &projected_points,
715 NormalCloud &projected_points_normals,
721 PointOutT &point_out)
const;
737 boost::mt19937 rng_alg_;
742 boost::shared_ptr<boost::variate_generator<boost::mt19937&,
743 boost::uniform_real<float> >
744 > rng_uniform_distribution_;
748 getClassName ()
const {
return (
"MovingLeastSquares"); }
756 template <
typename Po
intInT,
typename Po
intOutT>
770 #ifdef PCL_NO_PRECOMPILE
771 #include <pcl/surface/impl/mls.hpp>
Data structure used to store the MLS polynomial partial derivatives.
bool valid
If True, the mls results data is valid, otherwise False.
int nr_coeff_
Number of coefficients, to be computed from the requested order.
Eigen::Vector3d plane_normal
The normal of the local plane of the query point.
PointCloudInConstPtr getDistinctCloud() const
Get the distinct cloud used for the DISTINCT_CLOUD upsampling method.
int getPolynomialOrder() const
Get the order of the polynomial to be fit.
boost::shared_ptr< PointCloud< PointT > > Ptr
double getSqrGaussParam() const
Get the parameter for distance based weighting of neighbors.
pcl::PointCloud< pcl::Normal > NormalCloud
double z_u
The partial derivative dz/du.
const std::vector< MLSResult > & getMLSResults() const
Get the MLSResults for input cloud.
PointCloudOut::Ptr PointCloudOutPtr
double getSearchRadius() const
Get the sphere radius used for determining the k-nearest neighbors.
NormalCloudPtr normals_
The point cloud that will hold the estimated normals, if set.
void setDilationVoxelSize(float voxel_size)
Set the voxel size for the voxel grid.
void setSearchRadius(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting...
PointCloudIn::Ptr PointCloudInPtr
Eigen::VectorXd c_vec
The polynomial coefficients Example: z = c_vec[0] + c_vec[1]*v + c_vec[2]*v^2 + c_vec[3]*u + c_vec[4]...
int dilation_iteration_num_
Number of dilation steps for the VOXEL_GRID_DILATION upsampling method.
double u
The u-coordinate of the projected point in local MLS frame.
void setUpsamplingMethod(UpsamplingMethod method)
Set the upsampling method to be used.
virtual void performProcessing(PointCloudOut &output)
Abstract surface reconstruction method.
PointIndicesPtr getCorrespondingIndices() const
Get the set of indices with each point in output having the corresponding point in input...
MLSProjectionResults projectPointOrthogonalToPolynomialSurface(const double u, const double v, const double w) const
Project a point orthogonal to the polynomial surface.
boost::shared_ptr< MovingLeastSquares< PointInT, PointOutT > > Ptr
boost::shared_ptr< std::vector< int > > IndicesPtr
pcl::search::Search< PointInT > KdTree
PointIndicesPtr corresponding_input_indices_
Collects for each point in output the corrseponding point in the input.
This file defines compatibility wrappers for low level I/O functions.
MLSProjectionResults projectPointToMLSPlane(const double u, const double v) const
Project a point onto the MLS plane.
void setPolynomialOrder(int order)
Set the order of the polynomial to be fit.
virtual int radiusSearch(const PointInT &point, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const =0
Search for all the nearest neighbors of the query point in a given radius.
MovingLeastSquares()
Empty constructor.
The input cloud will be inserted into a voxel grid with voxels of size voxel_size_; this voxel grid w...
MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data s...
double z_vv
The partial derivative d^2z/dv^2.
Eigen::Vector4f bounding_max_
float getDilationVoxelSize() const
Get the voxel size for the voxel grid.
SearchMethod search_method_
The search method template for indices.
double z_uv
The partial derivative d^2z/dudv.
int getPointDensity() const
Get the parameter that specifies the desired number of points within the search radius.
void setCacheMLSResults(bool cache_mls_results)
Set whether the mls results should be stored for each point in the input cloud.
MovingLeastSquaresOMP implementation has been merged into MovingLeastSquares for better maintainabili...
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
pcl::PointCloud< PointInT > PointCloudIn
boost::shared_ptr< PointIndices > PointIndicesPtr
void computeMLSSurface(const pcl::PointCloud< PointT > &cloud, int index, const std::vector< int > &nn_indices, double search_radius, int polynomial_order=2, boost::function< double(const double)> weight_func=0)
Smooth a given point and its neighborghood using Moving Least Squares.
double getUpsamplingStepSize() const
Get the step size for the local plane sampling.
void setUpsamplingRadius(double radius)
Set the radius of the circle in the local point plane that will be sampled.
Project to the closest point on the polynonomial surface.
MovingLeastSquaresOMP(unsigned int threads=1)
Constructor for parallelized Moving Least Squares.
boost::shared_ptr< const MovingLeastSquares< PointInT, PointOutT > > ConstPtr
bool getPolynomialFit() const
Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial)...
int order
The order of the polynomial.
Eigen::Vector4f bounding_min_
bool cache_mls_results_
True if the mls results for the input cloud should be stored.
double z_uu
The partial derivative d^2z/du^2.
std::vector< MLSResult > mls_results_
Stores the MLS result for each point in the input cloud.
double getPolynomialValue(const double u, const double v) const
Calculate the polynomial.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Data structure used to store the MLS projection results.
Eigen::Vector3d point
The projected point.
double v
The u-coordinate of the projected point in local MLS frame.
double z_v
The partial derivative dz/dv.
pcl::PointCloud< PointOutT > PointCloudOut
void setProjectionMethod(MLSResult::ProjectionMethod method)
Set the method to be used when projection the point on to the MLS surface.
Eigen::Vector3d normal
The projected point's normal.
PointCloudOut::ConstPtr PointCloudOutConstPtr
double upsampling_radius_
Radius of the circle in the local point plane that will be sampled.
The local plane of each input point will be sampled in a circular fashion using the upsampling_radius...
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
MLSProjectionResults projectPoint(const Eigen::Vector3d &pt, ProjectionMethod method, int required_neighbors=0) const
Project a point using the specified method.
KdTreePtr getSearchMethod() const
Get a pointer to the search method used.
void getIndexIn3D(uint64_t index_1d, Eigen::Vector3i &index_3d) const
PolynomialPartialDerivative getPolynomialPartialDerivative(const double u, const double v) const
Calculate the polynomial's first and second partial derivatives.
Data structure used to store the results of the MLS fitting.
PointCloudInConstPtr distinct_cloud_
The distinct point cloud that will be projected to the MLS surface.
pcl::search::Search< PointInT >::Ptr KdTreePtr
int num_neighbors
The number of neighbors used to create the mls surface.
void performUpsampling(PointCloudOut &output)
Perform upsampling for the distinct-cloud and voxel-grid methods.
void setDistinctCloud(PointCloudInConstPtr distinct_cloud)
Set the distinct cloud used for the DISTINCT_CLOUD upsampling method.
double search_radius_
The nearest neighbors search radius for each point.
Eigen::Vector3d u_axis
The axis corresponding to the u-coordinates of the local plane of the query point.
Project the points of the distinct cloud to the MLS surface.
void setUpsamplingStepSize(double step_size)
Set the step size for the local plane sampling.
void setPolynomialFit(bool polynomial_fit)
Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimati...
Eigen::Vector3d mean
The mean point of all the neighbors.
double upsampling_step_
Step size for the local plane sampling.
void process(PointCloudOut &output)
Base method for surface reconstruction for all points given in ...
Eigen::Vector3d v_axis
The axis corresponding to the v-coordinates of the local plane of the query point.
unsigned int threads_
The maximum number of threads the scheduler should use.
Project to the mls plane.
void setSqrGaussParam(double sqr_gauss_param)
Set the parameter used for distance based weighting of neighbors (the square of the search radius wor...
PointCloudIn::ConstPtr PointCloudInConstPtr
No upsampling will be done, only the input points will be projected to their own MLS surfaces...
Eigen::Vector3d query_point
The query point about which the mls surface was generated.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
KdTreePtr tree_
A pointer to the spatial search object.
int searchForNeighbors(int index, std::vector< int > &indices, std::vector< float > &sqr_distances) const
Search for the closest nearest neighbors of a given point using a radius search.
boost::shared_ptr< ::pcl::PointIndices > PointIndicesPtr
int getDilationIterations() const
Get the number of dilation steps of the voxel grid.
A minimalistic implementation of a voxel grid, necessary for the point cloud upsampling.
MLSVoxelGrid(PointCloudInConstPtr &cloud, IndicesPtr &indices, float voxel_size)
void getIndexIn1D(const Eigen::Vector3i &index, uint64_t &index_1d) const
int order_
The order of the polynomial to be fit.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
bool getCacheMLSResults() const
Get the cache_mls_results_ value (True if the mls results should be stored, otherwise false)...
float voxel_size_
Voxel size for the VOXEL_GRID_DILATION upsampling method.
bool compute_normals_
Parameter that specifies whether the normals should be computed for the input cloud or not...
void getMLSCoordinates(const Eigen::Vector3d &pt, double &u, double &v, double &w) const
Given a point calculate it's 3D location in the MLS frame.
int desired_num_points_in_radius_
Parameter that specifies the desired number of points within the search radius.
void setDilationIterations(int iterations)
Set the number of dilation steps of the voxel grid.
void getPosition(const uint64_t &index_1d, Eigen::Vector3f &point) const
boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> SearchMethod
float curvature
The curvature at the query point.
MLSProjectionResults projectPointSimpleToPolynomialSurface(const double u, const double v) const
Project a point along the MLS plane normal to the polynomial surface.
MLSProjectionResults projectQueryPoint(ProjectionMethod method, int required_neighbors=0) const
Project the query point used to generate the mls surface about using the specified method...
MLSResult::ProjectionMethod projection_method_
Parameter that specifies the projection method to be used.
void setPointDensity(int desired_num_points_in_radius)
Set the parameter that specifies the desired number of points within the search radius.
void setComputeNormals(bool compute_normals)
Set whether the algorithm should also store the normals computed.
UpsamplingMethod upsample_method_
Parameter that specifies the upsampling method to be used.
virtual ~MovingLeastSquares()
Empty destructor.
double z
The z component of the polynomial evaluated at z(u, v).
void getCellIndex(const Eigen::Vector3f &p, Eigen::Vector3i &index) const
MLSResult::ProjectionMethod getProjectionMethod() const
Get the current projection method being used.
void copyMissingFields(const PointInT &point_in, PointOutT &point_out) const
The local plane of each input point will be sampled using an uniform random distribution such that th...
void addProjectedPointNormal(int index, const Eigen::Vector3d &point, const Eigen::Vector3d &normal, double curvature, PointCloudOut &projected_points, NormalCloud &projected_points_normals, PointIndices &corresponding_input_indices) const
This is a helper function for add projected points.
pcl::PointCloud< pcl::Normal >::Ptr NormalCloudPtr
void computeMLSPointNormal(int index, const std::vector< int > &nn_indices, PointCloudOut &projected_points, NormalCloud &projected_points_normals, PointIndices &corresponding_input_indices, MLSResult &mls_result) const
Smooth a given point and its neighborghood using Moving Least Squares.
Eigen::Vector2f calculatePrincipleCurvatures(const double u, const double v) const
Calculate the principle curvatures using the polynomial surface.
double getUpsamplingRadius() const
Get the radius of the circle in the local point plane that will be sampled.
double sqr_gauss_param_
Parameter for distance based weighting of neighbors (search_radius_ * search_radius_ works fine) ...
void setNumberOfThreads(unsigned int threads=1)
Set the maximum number of threads to use.
Project along the mls plane normal to the polynomial surface.
std::map< uint64_t, Leaf > HashMap