4 #include <pcl/kdtree/kdtree_flann.h> 5 #include <pcl/surface/mls.h> 6 #include <pcl/surface/convex_hull.h> 7 #include <pcl/surface/concave_hull.h> 8 #include <pcl/surface/gp3.h> 9 #include <pcl/surface/marching_cubes_greedy.h> 19 std::vector<pcl::Vertices>
faces;
22 typedef boost::shared_ptr<Mesh> MeshPtr;
25 smoothPointCloud (
const PointCloudPtr & input,
float radius,
int polynomial_order)
37 mls.reconstruct (*output);
43 computeSurfaceElements (
const PointCloudPtr & input,
float radius,
int polynomial_order)
56 mls.setOutputNormals (normals);
57 mls.reconstruct (*points);
66 computeConvexHull (
const PointCloudPtr & input)
71 MeshPtr output (
new Mesh);
72 convex_hull.
reconstruct (*(output->points), output->faces);
79 computeConcaveHull (
const PointCloudPtr & input,
float alpha)
85 MeshPtr output (
new Mesh);
86 concave_hull.
reconstruct (*(output->points), output->faces);
92 greedyTriangulation (
const SurfaceElementsPtr & surfels,
float radius,
float mu,
int max_nearest_neighbors,
93 float max_surface_angle,
float min_angle,
float max_angle)
102 gpt.setMaximumSurfaceAgle (max_surface_angle);
116 marchingCubesTriangulation (
const SurfaceElementsPtr & surfels,
float leaf_size,
float iso_level)
118 pcl::MarchingCubesGreedy<SurfelT> marching_cubes;
120 marching_cubes.setLeafSize (leaf_size);
121 marching_cubes.setIsoLevel (iso_level);
123 marching_cubes.setInputCloud (surfels);
125 marching_cubes.reconstruct (*output);
ConvexHull using libqhull library.
void setSearchRadius(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting...
void setPolynomialOrder(int order)
Set the order of the polynomial to be fit.
void setMu(double mu)
Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point ...
MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data s...
boost::shared_ptr< KdTree< PointT > > Ptr
PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &cloud_in, const std::vector< int > &indices, pcl::PCLPointCloud2 &cloud_out)
Extract the indices of a given point cloud as a new point cloud.
boost::shared_ptr< KdTreeFLANN< PointT, Dist > > Ptr
void setSearchMethod(const KdTreePtr &tree)
Provide an optional pointer to a search object.
void setAlpha(double alpha)
Set the alpha value, which limits the size of the resultant hull segments (the smaller the more detai...
std::vector< pcl::Vertices > faces
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a concave hull for all points given.
void setMaximumNearestNeighbors(int nnn)
Set the maximum number of nearest neighbors to be searched for.
boost::shared_ptr< ::pcl::PolygonMesh > Ptr
void setMinimumAngle(double minimum_angle)
Set the minimum angle each triangle should have.
void setPolynomialFit(bool polynomial_fit)
Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimati...
GreedyProjectionTriangulation is an implementation of a greedy triangulation algorithm for 3D points ...
void setSqrGaussParam(double sqr_gauss_param)
Set the parameter used for distance based weighting of neighbors (the square of the search radius wor...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void reconstruct(PointCloud &points, std::vector< pcl::Vertices > &polygons)
Compute a convex hull for all points given.
void setSearchRadius(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors used for triangulati...
void setMaximumAngle(double maximum_angle)
Set the maximum angle each triangle can have.
void setNormalConsistency(bool consistent)
Set the flag if the input normals are oriented consistently.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
virtual void reconstruct(pcl::PolygonMesh &output)
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> ...
ConcaveHull (alpha shapes) using libqhull library.