49 #include <pcl/pcl_base.h> 51 #include <pcl/search/search.h> 53 #include <pcl/surface/processing.h> 95 MLSResult (
const Eigen::Vector3d &a_query_point,
96 const Eigen::Vector3d &a_mean,
97 const Eigen::Vector3d &a_plane_normal,
98 const Eigen::Vector3d &a_u,
99 const Eigen::Vector3d &a_v,
100 const Eigen::VectorXd &a_c_vec,
101 const int a_num_neighbors,
102 const float a_curvature,
112 getMLSCoordinates (
const Eigen::Vector3d &pt,
double &u,
double &v,
double &w)
const;
135 inline PolynomialPartialDerivative
144 inline Eigen::Vector2f
156 inline MLSProjectionResults
164 inline MLSProjectionResults
173 inline MLSProjectionResults
185 inline MLSProjectionResults
196 inline MLSProjectionResults
206 template <
typename Po
intT>
void 209 const std::vector<int> &nn_indices,
210 double search_radius,
211 int polynomial_order = 2,
212 std::function<
double(
const double)> weight_func = {});
233 double computeMLSWeight (
const double sq_dist,
const double sq_mls_radius) {
return (std::exp (-sq_dist / sq_mls_radius)); }
250 template <
typename Po
intInT,
typename Po
intOutT>
254 typedef shared_ptr<MovingLeastSquares<PointInT, PointOutT> >
Ptr;
255 typedef shared_ptr<const MovingLeastSquares<PointInT, PointOutT> >
ConstPtr;
276 using SearchMethod = std::function<int (int, double, std::vector<int> &, std::vector<float> &)>;
313 rng_uniform_distribution_ ()
334 search_method_ = [
this] (
int index,
double radius, std::vector<int>& k_indices, std::vector<float>& k_sqr_distances)
336 return tree_->radiusSearch (index, radius, k_indices, k_sqr_distances, 0);
514 inline const std::vector<MLSResult>&
625 index_3d[1] =
static_cast<Eigen::Vector3i::Scalar
> (index_1d /
data_size_);
627 index_3d[2] =
static_cast<Eigen::Vector3i::Scalar
> (index_1d);
633 for (
int i = 0; i < 3; ++i)
640 Eigen::Vector3i index_3d;
642 for (
int i = 0; i < 3; ++i)
646 typedef std::map<std::uint64_t, Leaf>
HashMap;
691 const std::vector<int> &nn_indices,
709 const Eigen::Vector3d &point,
710 const Eigen::Vector3d &normal,
719 PointOutT &point_out)
const;
735 mutable std::mt19937 rng_;
740 std::unique_ptr<std::uniform_real_distribution<>> rng_uniform_distribution_;
744 getClassName ()
const {
return (
"MovingLeastSquares"); }
747 template <
typename Po
intInT,
typename Po
intOutT>
751 #ifdef PCL_NO_PRECOMPILE 752 #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.
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.
double z_u
The partial derivative dz/du.
typename PointCloudIn::ConstPtr PointCloudInConstPtr
NormalCloudPtr normals_
The point cloud that will hold the estimated normals, if set.
shared_ptr< PointCloud< pcl::Normal > > Ptr
Defines functions, macros and traits for allocating and using memory.
void setDilationVoxelSize(float voxel_size)
Set the voxel size for the voxel grid.
MLSResult::ProjectionMethod getProjectionMethod() const
Get the current projection method being used.
void setSearchRadius(double radius)
Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting...
The input cloud will be inserted into a voxel grid with voxels of size voxel_size_; this voxel grid w...
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.
Eigen::Vector2f calculatePrincipleCurvatures(const double u, const double v) const
Calculate the principle curvatures using the polynomial surface.
void setUpsamplingMethod(UpsamplingMethod method)
Set the upsampling method to be used.
float getDilationVoxelSize() const
Get the voxel size for the voxel grid.
PointCloudInConstPtr getDistinctCloud() const
Get the distinct cloud used for the DISTINCT_CLOUD upsampling method.
int getDilationIterations() const
Get the number of dilation steps of the voxel grid.
PointIndicesPtr corresponding_input_indices_
Collects for each point in output the corrseponding point in the input.
PointIndices::Ptr PointIndicesPtr
void setPolynomialOrder(int order)
Set the order of the polynomial to be fit.
typename PointCloudOut::ConstPtr PointCloudOutConstPtr
PolynomialPartialDerivative getPolynomialPartialDerivative(const double u, const double v) const
Calculate the polynomial's first and second partial derivatives.
MovingLeastSquares()
Empty constructor.
MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm for data s...
shared_ptr< Indices > IndicesPtr
double z_vv
The partial derivative d^2z/dv^2.
~MovingLeastSquares()
Empty destructor.
Eigen::Vector4f bounding_max_
SearchMethod search_method_
The search method template for indices.
double z_uv
The partial derivative d^2z/dudv.
void setCacheMLSResults(bool cache_mls_results)
Set whether the mls results should be stored for each point in the input cloud.
std::function< int(int, double, std::vector< int > &, std::vector< float > &)> SearchMethod
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
double getSearchRadius() const
Get the sphere radius used for determining the k-nearest neighbors.
int getPointDensity() const
Get the parameter that specifies the desired number of points within the search radius.
void copyMissingFields(const PointInT &point_in, PointOutT &point_out) const
MLSProjectionResults projectQueryPoint(ProjectionMethod method, int required_neighbors=0) const
Project the query point used to generate the mls surface about using the specified method...
void getPosition(const std::uint64_t &index_1d, Eigen::Vector3f &point) const
void setUpsamplingRadius(double radius)
Set the radius of the circle in the local point plane that will be sampled.
void process(PointCloudOut &output) override
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> ...
Project to the closest point on the polynonomial surface.
int order
The order of the polynomial.
std::map< std::uint64_t, Leaf > HashMap
Eigen::Vector4f bounding_min_
MLSProjectionResults projectPointSimpleToPolynomialSurface(const double u, const double v) const
Project a point along the MLS plane normal to the polynomial surface.
Project the points of the distinct cloud to the MLS surface.
MLSProjectionResults projectPoint(const Eigen::Vector3d &pt, ProjectionMethod method, int required_neighbors=0) const
Project a point using the specified method.
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.
bool getPolynomialFit() const
Get the polynomial_fit value (true if the surface and normal are approximated using a polynomial)...
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.
void setProjectionMethod(MLSResult::ProjectionMethod method)
Set the method to be used when projection the point on to the MLS surface.
double getUpsamplingStepSize() const
Get the step size for the local plane sampling.
Eigen::Vector3d normal
The projected point's normal.
double upsampling_radius_
Radius of the circle in the local point plane that will be sampled.
typename PointCloudOut::Ptr PointCloudOutPtr
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.
shared_ptr< const MovingLeastSquares< PointInT, PointOutT > > ConstPtr
The local plane of each input point will be sampled in a circular fashion using the upsampling_radius...
pcl::PointCloud< pcl::Normal > NormalCloud
No upsampling will be done, only the input points will be projected to their own MLS surfaces...
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.
int num_neighbors
The number of neighbors used to create the mls surface.
KdTreePtr getSearchMethod() const
Get a pointer to the search method used.
void performUpsampling(PointCloudOut &output)
Perform upsampling for the distinct-cloud and voxel-grid methods.
typename PointCloudIn::Ptr PointCloudInPtr
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.
void setUpsamplingStepSize(double step_size)
Set the step size for the local plane sampling.
shared_ptr< MovingLeastSquares< PointInT, PointOutT > > Ptr
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.
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.
double getUpsamplingRadius() const
Get the radius of the circle in the local point plane that will be sampled.
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...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Eigen::Vector3d query_point
The query point about which the mls surface was generated.
KdTreePtr tree_
A pointer to the spatial search object.
bool getCacheMLSResults() const
Get the cache_mls_results_ value (True if the mls results should be stored, otherwise false)...
void performProcessing(PointCloudOut &output) override
Abstract surface reconstruction method.
void getIndexIn3D(std::uint64_t index_1d, Eigen::Vector3i &index_3d) const
A minimalistic implementation of a voxel grid, necessary for the point cloud upsampling.
MLSVoxelGrid(PointCloudInConstPtr &cloud, IndicesPtr &indices, float voxel_size)
int order_
The order of the polynomial to be fit.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
float voxel_size_
Voxel size for the VOXEL_GRID_DILATION upsampling method.
shared_ptr< const PointCloud< PointOutT > > ConstPtr
bool compute_normals_
Parameter that specifies whether the normals should be computed for the input cloud or not...
int desired_num_points_in_radius_
Parameter that specifies the desired number of points within the search radius.
void computeMLSSurface(const pcl::PointCloud< PointT > &cloud, int index, const std::vector< int > &nn_indices, double search_radius, int polynomial_order=2, std::function< double(const double)> weight_func={})
Smooth a given point and its neighborghood using Moving Least Squares.
PointIndicesPtr getCorrespondingIndices() const
Get the set of indices with each point in output having the corresponding point in input...
double getSqrGaussParam() const
Get the parameter for distance based weighting of neighbors.
const std::vector< MLSResult > & getMLSResults() const
Get the MLSResults for input cloud.
void setDilationIterations(int iterations)
Set the number of dilation steps of the voxel grid.
float curvature
The curvature at the query point.
shared_ptr< pcl::search::Search< PointInT > > Ptr
MLSProjectionResults projectPointOrthogonalToPolynomialSurface(const double u, const double v, const double w) const
Project a point orthogonal to the polynomial surface.
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major...
int getPolynomialOrder() const
Get the order of the polynomial to be fit.
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.
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.
UpsamplingMethod upsample_method_
Parameter that specifies the upsampling method to be used.
double getPolynomialValue(const double u, const double v) const
Calculate the polynomial.
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.
NormalCloud::Ptr NormalCloudPtr
double z
The z component of the polynomial evaluated at z(u, v).
MLSProjectionResults projectPointToMLSPlane(const double u, const double v) const
Project a point onto the MLS plane.
void getIndexIn1D(const Eigen::Vector3i &index, std::uint64_t &index_1d) const
typename KdTree::Ptr KdTreePtr
pcl::PointCloud< PointOutT > PointCloudOut
Defines all the PCL and non-PCL macros used.
void getCellIndex(const Eigen::Vector3f &p, Eigen::Vector3i &index) const
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.
The local plane of each input point will be sampled using an uniform random distribution such that th...
PointIndices::Ptr PointIndicesPtr