38 #ifndef PCL_SURFACE_IMPL_GRID_PROJECTION_H_ 39 #define PCL_SURFACE_IMPL_GRID_PROJECTION_H_ 41 #include <pcl/surface/grid_projection.h> 42 #include <pcl/common/common.h> 43 #include <pcl/common/centroid.h> 44 #include <pcl/common/vector_average.h> 45 #include <pcl/Vertices.h> 48 template <
typename Po
intNT>
50 cell_hash_map_ (), min_p_ (), max_p_ (), leaf_size_ (0.001), gaussian_scale_ (),
51 data_size_ (0), max_binary_search_level_ (10), k_ (50), padding_size_ (3), data_ (),
52 vector_at_data_point_ (), surface_ (), occupied_cell_list_ ()
56 template <
typename Po
intNT>
58 cell_hash_map_ (), min_p_ (), max_p_ (), leaf_size_ (resolution), gaussian_scale_ (),
59 data_size_ (0), max_binary_search_level_ (10), k_ (50), padding_size_ (3), data_ (),
60 vector_at_data_point_ (), surface_ (), occupied_cell_list_ ()
64 template <
typename Po
intNT>
67 vector_at_data_point_.clear ();
69 cell_hash_map_.clear ();
70 occupied_cell_list_.clear ();
75 template <
typename Po
intNT>
void 78 for (
size_t i = 0; i < data_->points.size(); ++i)
80 data_->points[i].x /=
static_cast<float> (scale_factor);
81 data_->points[i].y /=
static_cast<float> (scale_factor);
82 data_->points[i].z /=
static_cast<float> (scale_factor);
84 max_p_ /=
static_cast<float> (scale_factor);
85 min_p_ /=
static_cast<float> (scale_factor);
89 template <
typename Po
intNT>
void 94 Eigen::Vector4f bounding_box_size = max_p_ - min_p_;
95 double scale_factor = (std::max)((std::max)(bounding_box_size.x (),
96 bounding_box_size.y ()),
97 bounding_box_size.z ());
102 int upper_right_index[3];
103 int lower_left_index[3];
104 for (
size_t i = 0; i < 3; ++i)
106 upper_right_index[i] =
static_cast<int> (max_p_(i) / leaf_size_ + 5);
107 lower_left_index[i] =
static_cast<int> (min_p_(i) / leaf_size_ - 5);
108 max_p_(i) =
static_cast<float> (upper_right_index[i] * leaf_size_);
109 min_p_(i) =
static_cast<float> (lower_left_index[i] * leaf_size_);
111 bounding_box_size = max_p_ - min_p_;
112 PCL_DEBUG (
"[pcl::GridProjection::getBoundingBox] Size of Bounding Box is [%f, %f, %f]\n",
113 bounding_box_size.x (), bounding_box_size.y (), bounding_box_size.z ());
115 (std::max) ((std::max)(bounding_box_size.x (), bounding_box_size.y ()),
116 bounding_box_size.z ());
118 data_size_ =
static_cast<int> (max_size / leaf_size_);
119 PCL_DEBUG (
"[pcl::GridProjection::getBoundingBox] Lower left point is [%f, %f, %f]\n",
120 min_p_.x (), min_p_.y (), min_p_.z ());
121 PCL_DEBUG (
"[pcl::GridProjection::getBoundingBox] Upper left point is [%f, %f, %f]\n",
122 max_p_.x (), max_p_.y (), max_p_.z ());
123 PCL_DEBUG (
"[pcl::GridProjection::getBoundingBox] Padding size: %d\n", padding_size_);
124 PCL_DEBUG (
"[pcl::GridProjection::getBoundingBox] Leaf size: %f\n", leaf_size_);
125 occupied_cell_list_.resize (data_size_ * data_size_ * data_size_);
126 gaussian_scale_ = pow ((padding_size_+1) * leaf_size_ / 2.0, 2.0);
130 template <
typename Po
intNT>
void 132 const Eigen::Vector4f &cell_center,
133 std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &pts)
const 135 assert (pts.size () == 8);
137 float sz =
static_cast<float> (leaf_size_) / 2.0f;
139 pts[0] = cell_center + Eigen::Vector4f (-sz, sz, -sz, 0);
140 pts[1] = cell_center + Eigen::Vector4f (-sz, -sz, -sz, 0);
141 pts[2] = cell_center + Eigen::Vector4f (sz, -sz, -sz, 0);
142 pts[3] = cell_center + Eigen::Vector4f (sz, sz, -sz, 0);
143 pts[4] = cell_center + Eigen::Vector4f (-sz, sz, sz, 0);
144 pts[5] = cell_center + Eigen::Vector4f (-sz, -sz, sz, 0);
145 pts[6] = cell_center + Eigen::Vector4f (sz, -sz, sz, 0);
146 pts[7] = cell_center + Eigen::Vector4f (sz, sz, sz, 0);
150 template <
typename Po
intNT>
void 152 std::vector <int> &pt_union_indices)
154 for (
int i = index[0] - padding_size_; i <= index[0] + padding_size_; ++i)
156 for (
int j = index[1] - padding_size_; j <= index[1] + padding_size_; ++j)
158 for (
int k = index[2] - padding_size_; k <= index[2] + padding_size_; ++k)
160 Eigen::Vector3i cell_index_3d (i, j, k);
162 if (cell_hash_map_.find (cell_index_1d) != cell_hash_map_.end ())
166 pt_union_indices.insert (pt_union_indices.end (),
167 cell_hash_map_.at (cell_index_1d).data_indices.begin (),
168 cell_hash_map_.at (cell_index_1d).data_indices.end ());
176 template <
typename Po
intNT>
void 178 std::vector <int> &pt_union_indices)
181 std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > vertices (8);
184 Eigen::Vector4f pts[4];
185 Eigen::Vector3f vector_at_pts[4];
189 Eigen::Vector4f cell_center = Eigen::Vector4f::Zero ();
194 Eigen::Vector3i indices[4];
195 indices[0] = Eigen::Vector3i (index[0], index[1], index[2] - 1);
196 indices[1] = Eigen::Vector3i (index[0], index[1], index[2]);
197 indices[2] = Eigen::Vector3i (index[0], index[1] - 1, index[2]);
198 indices[3] = Eigen::Vector3i (index[0] + 1, index[1], index[2]);
201 for (
size_t i = 0; i < 4; ++i)
205 if (cell_hash_map_.find (index_1d) == cell_hash_map_.end () ||
206 occupied_cell_list_[index_1d] == 0)
209 vector_at_pts[i] = cell_hash_map_.at (index_1d).vect_at_grid_pt;
213 for (
size_t i = 0; i < 3; ++i)
215 std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > end_pts (2);
216 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > vect_at_end_pts (2);
217 for (
size_t j = 0; j < 2; ++j)
220 vect_at_end_pts[j] = vector_at_pts[I_SHIFT_EDGE[i][j]];
223 if (
isIntersected (end_pts, vect_at_end_pts, pt_union_indices))
227 Eigen::Vector3i polygon[4];
228 Eigen::Vector4f polygon_pts[4];
229 int polygon_indices_1d[4];
230 bool is_all_in_hash_map =
true;
234 polygon[0] = Eigen::Vector3i (index[0] - 1, index[1] + 1, index[2]);
235 polygon[1] = Eigen::Vector3i (index[0] - 1, index[1], index[2]);
236 polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);
237 polygon[3] = Eigen::Vector3i (index[0], index[1] + 1, index[2]);
240 polygon[0] = Eigen::Vector3i (index[0], index[1] + 1, index[2] + 1);
241 polygon[1] = Eigen::Vector3i (index[0], index[1] + 1, index[2]);
242 polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);
243 polygon[3] = Eigen::Vector3i (index[0], index[1], index[2] + 1);
246 polygon[0] = Eigen::Vector3i (index[0] - 1, index[1], index[2] + 1);
247 polygon[1] = Eigen::Vector3i (index[0] - 1, index[1], index[2]);
248 polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);
249 polygon[3] = Eigen::Vector3i (index[0], index[1], index[2] + 1);
254 for (
size_t k = 0; k < 4; k++)
257 if (!occupied_cell_list_[polygon_indices_1d[k]])
259 is_all_in_hash_map =
false;
263 if (is_all_in_hash_map)
265 for (
size_t k = 0; k < 4; k++)
267 polygon_pts[k] = cell_hash_map_.at (polygon_indices_1d[k]).pt_on_surface;
268 surface_.push_back (polygon_pts[k]);
276 template <
typename Po
intNT>
void 278 std::vector <int> &pt_union_indices, Eigen::Vector4f &projection)
280 const double projection_distance = leaf_size_ * 3;
281 std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > end_pt (2);
282 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > end_pt_vect (2);
285 end_pt_vect[0].normalize();
287 double dSecond =
getD2AtPoint (end_pt[0], end_pt_vect[0], pt_union_indices);
293 end_pt[1] = end_pt[0] + Eigen::Vector4f (
294 end_pt_vect[0][0] * static_cast<float> (projection_distance),
295 end_pt_vect[0][1] * static_cast<float> (projection_distance),
296 end_pt_vect[0][2] * static_cast<float> (projection_distance),
299 end_pt[1] = end_pt[0] - Eigen::Vector4f (
300 end_pt_vect[0][0] * static_cast<float> (projection_distance),
301 end_pt_vect[0][1] * static_cast<float> (projection_distance),
302 end_pt_vect[0][2] * static_cast<float> (projection_distance),
305 if (end_pt_vect[1].dot (end_pt_vect[0]) < 0)
307 Eigen::Vector4f mid_pt = end_pt[0] + (end_pt[1] - end_pt[0]) * 0.5;
308 findIntersection (0, end_pt, end_pt_vect, mid_pt, pt_union_indices, projection);
315 template <
typename Po
intNT>
void 317 std::vector<int> (&pt_union_indices),
318 Eigen::Vector4f &projection)
321 Eigen::Vector4f model_coefficients;
323 Eigen::Matrix3f covariance_matrix;
324 Eigen::Vector4f xyz_centroid;
331 pcl::eigen33 (covariance_matrix, eigen_value, eigen_vector);
334 model_coefficients[0] = eigen_vector [0];
335 model_coefficients[1] = eigen_vector [1];
336 model_coefficients[2] = eigen_vector [2];
337 model_coefficients[3] = 0;
339 model_coefficients[3] = -1 * model_coefficients.dot (xyz_centroid);
342 Eigen::Vector3f point (p.x (), p.y (), p.z ());
343 float distance = point.dot (model_coefficients.head <3> ()) + model_coefficients[3];
344 point -= distance * model_coefficients.head < 3 > ();
346 projection = Eigen::Vector4f (point[0], point[1], point[2], 0);
350 template <
typename Po
intNT>
void 352 std::vector <int> &pt_union_indices,
355 std::vector <double> pt_union_dist (pt_union_indices.size ());
356 std::vector <double> pt_union_weight (pt_union_indices.size ());
357 Eigen::Vector3f out_vector (0, 0, 0);
361 for (
size_t i = 0; i < pt_union_indices.size (); ++i)
363 Eigen::Vector4f pp (data_->points[pt_union_indices[i]].x, data_->points[pt_union_indices[i]].y, data_->points[pt_union_indices[i]].z, 0);
364 pt_union_dist[i] = (pp - p).squaredNorm ();
365 pt_union_weight[i] = pow (M_E, -pow (pt_union_dist[i], 2.0) / gaussian_scale_);
366 mag += pow (M_E, -pow (sqrt (pt_union_dist[i]), 2.0) / gaussian_scale_);
367 sum += pt_union_weight[i];
373 data_->points[pt_union_indices[0]].normal[0],
374 data_->points[pt_union_indices[0]].normal[1],
375 data_->points[pt_union_indices[0]].normal[2]);
377 for (
size_t i = 0; i < pt_union_weight.size (); ++i)
379 pt_union_weight[i] /= sum;
380 Eigen::Vector3f vec (data_->points[pt_union_indices[i]].normal[0],
381 data_->points[pt_union_indices[i]].normal[1],
382 data_->points[pt_union_indices[i]].normal[2]);
385 vector_average.
add (vec, static_cast<float> (pt_union_weight[i]));
387 out_vector = vector_average.
getMean ();
390 out_vector.normalize ();
391 double d1 =
getD1AtPoint (p, out_vector, pt_union_indices);
392 out_vector *=
static_cast<float> (sum);
393 vo = ((d1 > 0) ? -1 : 1) * out_vector;
397 template <
typename Po
intNT>
void 399 std::vector <int> &k_indices,
400 std::vector <float> &k_squared_distances,
403 Eigen::Vector3f out_vector (0, 0, 0);
404 std::vector <float> k_weight;
405 k_weight.resize (k_);
407 for (
int i = 0; i < k_; i++)
410 k_weight[i] = std::pow (static_cast<float>(M_E), static_cast<float>(-pow (static_cast<float>(k_squared_distances[i]), 2.0f) / gaussian_scale_));
414 for (
int i = 0; i < k_; i++)
417 Eigen::Vector3f vec (data_->points[k_indices[i]].normal[0],
418 data_->points[k_indices[i]].normal[1],
419 data_->points[k_indices[i]].normal[2]);
420 vector_average.
add (vec, k_weight[i]);
423 out_vector.normalize ();
425 out_vector = out_vector * sum;
426 vo = ((d1 > 0) ? -1 : 1) * out_vector;
431 template <
typename Po
intNT>
double 433 const std::vector <int> &pt_union_indices)
435 std::vector <double> pt_union_dist (pt_union_indices.size ());
436 std::vector <double> pt_union_weight (pt_union_indices.size ());
438 for (
size_t i = 0; i < pt_union_indices.size (); ++i)
440 Eigen::Vector4f pp (data_->points[pt_union_indices[i]].x, data_->points[pt_union_indices[i]].y, data_->points[pt_union_indices[i]].z, 0);
441 pt_union_dist[i] = (pp - p).norm ();
442 sum += pow (M_E, -pow (pt_union_dist[i], 2.0) / gaussian_scale_);
448 template <
typename Po
intNT>
double 450 const std::vector <int> &pt_union_indices)
452 double sz = 0.01 * leaf_size_;
453 Eigen::Vector3f v = vec *
static_cast<float> (sz);
455 double forward =
getMagAtPoint (p + Eigen::Vector4f (v[0], v[1], v[2], 0), pt_union_indices);
456 double backward =
getMagAtPoint (p - Eigen::Vector4f (v[0], v[1], v[2], 0), pt_union_indices);
457 return ((forward - backward) / (0.02 * leaf_size_));
461 template <
typename Po
intNT>
double 463 const std::vector <int> &pt_union_indices)
465 double sz = 0.01 * leaf_size_;
466 Eigen::Vector3f v = vec *
static_cast<float> (sz);
468 double forward =
getD1AtPoint (p + Eigen::Vector4f (v[0], v[1], v[2], 0), vec, pt_union_indices);
469 double backward =
getD1AtPoint (p - Eigen::Vector4f (v[0], v[1], v[2], 0), vec, pt_union_indices);
470 return ((forward - backward) / (0.02 * leaf_size_));
474 template <
typename Po
intNT>
bool 476 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > &vect_at_end_pts,
477 std::vector <int> &pt_union_indices)
479 assert (end_pts.size () == 2);
480 assert (vect_at_end_pts.size () == 2);
483 for (
size_t i = 0; i < 2; ++i)
485 length[i] = vect_at_end_pts[i].norm ();
486 vect_at_end_pts[i].normalize ();
488 double dot_prod = vect_at_end_pts[0].dot (vect_at_end_pts[1]);
491 double ratio = length[0] / (length[0] + length[1]);
492 Eigen::Vector4f start_pt =
493 end_pts[0] + (end_pts[1] - end_pts[0]) * static_cast<float> (ratio);
494 Eigen::Vector4f intersection_pt = Eigen::Vector4f::Zero ();
495 findIntersection (0, end_pts, vect_at_end_pts, start_pt, pt_union_indices, intersection_pt);
501 double d2 =
getD2AtPoint (intersection_pt, vec, pt_union_indices);
509 template <
typename Po
intNT>
void 511 const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &end_pts,
512 const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > &vect_at_end_pts,
513 const Eigen::Vector4f &start_pt,
514 std::vector <int> &pt_union_indices,
515 Eigen::Vector4f &intersection)
517 assert (end_pts.size () == 2);
518 assert (vect_at_end_pts.size () == 2);
522 double d1 =
getD1AtPoint (start_pt, vec, pt_union_indices);
523 std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > new_end_pts (2);
524 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > new_vect_at_end_pts (2);
525 if ((fabs (d1) < 10e-3) || (level == max_binary_search_level_))
527 intersection = start_pt;
533 if (vec.dot (vect_at_end_pts[0]) < 0)
535 Eigen::Vector4f new_start_pt = end_pts[0] + (start_pt - end_pts[0]) * 0.5;
536 new_end_pts[0] = end_pts[0];
537 new_end_pts[1] = start_pt;
538 new_vect_at_end_pts[0] = vect_at_end_pts[0];
539 new_vect_at_end_pts[1] = vec;
540 findIntersection (level + 1, new_end_pts, new_vect_at_end_pts, new_start_pt, pt_union_indices, intersection);
543 if (vec.dot (vect_at_end_pts[1]) < 0)
545 Eigen::Vector4f new_start_pt = start_pt + (end_pts[1] - start_pt) * 0.5;
546 new_end_pts[0] = start_pt;
547 new_end_pts[1] = end_pts[1];
548 new_vect_at_end_pts[0] = vec;
549 new_vect_at_end_pts[1] = vect_at_end_pts[1];
550 findIntersection (level + 1, new_end_pts, new_vect_at_end_pts, new_start_pt, pt_union_indices, intersection);
553 intersection = start_pt;
560 template <
typename Po
intNT>
void 563 for (
int i = index[0] - padding_size_; i < index[0] + padding_size_; ++i)
565 for (
int j = index[1] - padding_size_; j < index[1] + padding_size_; ++j)
567 for (
int k = index[2] - padding_size_; k < index[2] + padding_size_; ++k)
569 Eigen::Vector3i cell_index_3d (i, j, k);
570 unsigned int cell_index_1d =
getIndexIn1D (cell_index_3d);
571 if (cell_hash_map_.find (cell_index_1d) == cell_hash_map_.end ())
573 cell_hash_map_[cell_index_1d].data_indices.resize (0);
583 template <
typename Po
intNT>
void 585 const Eigen::Vector3i &,
586 std::vector <int> &pt_union_indices,
587 const Leaf &cell_data)
590 Eigen::Vector4f grid_pt (
591 cell_data.
pt_on_surface.x () -
static_cast<float> (leaf_size_) / 2.0f,
592 cell_data.
pt_on_surface.y () +
static_cast<float> (leaf_size_) / 2.0f,
593 cell_data.
pt_on_surface.z () +
static_cast<float> (leaf_size_) / 2.0f, 0.0f);
596 getVectorAtPoint (grid_pt, pt_union_indices, cell_hash_map_[index_1d].vect_at_grid_pt);
601 template <
typename Po
intNT>
void 603 const Leaf &cell_data)
606 Eigen::Vector4f grid_pt (
607 cell_center.x () -
static_cast<float> (leaf_size_) / 2.0f,
608 cell_center.y () +
static_cast<float> (leaf_size_) / 2.0f,
609 cell_center.z () +
static_cast<float> (leaf_size_) / 2.0f, 0.0f);
611 std::vector <int> k_indices;
612 k_indices.resize (k_);
613 std::vector <float> k_squared_distances;
614 k_squared_distances.resize (k_);
616 PointNT pt; pt.x = grid_pt.x (); pt.y = grid_pt.y (); pt.z = grid_pt.z ();
617 tree_->nearestKSearch (pt, k_, k_indices, k_squared_distances);
619 getVectorAtPointKNN (grid_pt, k_indices, k_squared_distances, cell_hash_map_[index_1d].vect_at_grid_pt);
624 template <
typename Po
intNT>
bool 632 cell_hash_map_.max_load_factor (2.0);
633 cell_hash_map_.rehash (data_->points.size () /
static_cast<long unsigned int> (cell_hash_map_.max_load_factor ()));
636 for (
int cp = 0; cp < static_cast<int> (data_->points.size ()); ++cp)
639 if (!pcl_isfinite (data_->points[cp].x) ||
640 !pcl_isfinite (data_->points[cp].y) ||
641 !pcl_isfinite (data_->points[cp].z))
644 Eigen::Vector3i index_3d;
645 getCellIndex (data_->points[cp].getVector4fMap (), index_3d);
647 if (cell_hash_map_.find (index_1d) == cell_hash_map_.end ())
652 cell_hash_map_[index_1d] = cell_data;
653 occupied_cell_list_[index_1d] = 1;
657 Leaf cell_data = cell_hash_map_.at (index_1d);
659 cell_hash_map_[index_1d] = cell_data;
663 Eigen::Vector3i index;
664 int numOfFilledPad = 0;
666 for (
int i = 0; i < data_size_; ++i)
668 for (
int j = 0; j < data_size_; ++j)
670 for (
int k = 0; k < data_size_; ++k)
685 BOOST_FOREACH (
typename HashMap::value_type entry, cell_hash_map_)
688 std::vector <int> pt_union_indices;
693 if (pt_union_indices.size () > 10)
697 occupied_cell_list_[entry.first] = 1;
702 BOOST_FOREACH (
typename HashMap::value_type entry, cell_hash_map_)
705 std::vector <int> pt_union_indices;
710 if (pt_union_indices.size () > 10)
714 polygons.resize (surface_.size () / 4);
716 for (
int i = 0; i < static_cast<int> (polygons.size ()); ++i)
720 for (
int j = 0; j < 4; ++j)
728 template <
typename Po
intNT>
void 738 cloud.
width =
static_cast<uint32_t
> (surface_.size ());
742 cloud.
points.resize (surface_.size ());
744 for (
size_t i = 0; i < cloud.
points.size (); ++i)
746 cloud.
points[i].x = surface_[i].x ();
747 cloud.
points[i].y = surface_[i].y ();
748 cloud.
points[i].z = surface_[i].z ();
754 template <
typename Po
intNT>
void 756 std::vector<pcl::Vertices> &polygons)
763 points.
width =
static_cast<uint32_t
> (surface_.size ());
767 points.
resize (surface_.size ());
769 for (
size_t i = 0; i < points.
size (); ++i)
771 points[i].x = surface_[i].x ();
772 points[i].y = surface_[i].y ();
773 points[i].z = surface_[i].z ();
777 #define PCL_INSTANTIATE_GridProjection(T) template class PCL_EXPORTS pcl::GridProjection<T>; 779 #endif // PCL_SURFACE_IMPL_GRID_PROJECTION_H_
~GridProjection()
Destructor.
void getCellIndex(const Eigen::Vector4f &p, Eigen::Vector3i &index) const
Get the 3d index (x,y,z) of the cell based on the location of the cell.
bool isIntersected(const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &end_pts, std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &vect_at_end_pts, std::vector< int > &pt_union_indices)
Test whether the edge is intersected by the surface by doing the dot product of the vector at two end...
double getD1AtPoint(const Eigen::Vector4f &p, const Eigen::Vector3f &vec, const std::vector< int > &pt_union_indices)
Get the 1st derivative.
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
struct pcl::_PointXYZHSV EIGEN_ALIGN16
void getProjection(const Eigen::Vector4f &p, std::vector< int > &pt_union_indices, Eigen::Vector4f &projection)
Given the coordinates of one point, project it onto the surface, return the projected point...
unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud< PointT > &cloud, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix, Eigen::Matrix< Scalar, 4, 1 > ¢roid)
Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...
std::vector< uint32_t > vertices
void scaleInputDataPoint(double scale_factor)
When the input data points don't fill into the 1*1*1 box, scale them so that they can be filled in th...
const Eigen::Matrix< real, dimension, 1 > & getMean() const
Get the mean of the added vectors.
void performReconstruction(pcl::PolygonMesh &output)
Create the surface.
void add(const Eigen::Matrix< real, dimension, 1 > &sample, real weight=1.0)
Add a new sample.
uint32_t height
The point cloud height (if organized as an image-structure).
Describes a set of vertices in a polygon mesh, by basically storing an array of indices.
uint32_t width
The point cloud width (if organized as an image-structure).
void getIndexIn3D(int index_1d, Eigen::Vector3i &index_3d) const
Given an index in 1d, translate it into the index (x, y, z) in 3d.
Eigen::Vector4f pt_on_surface
void storeVectAndSurfacePointKNN(int index_1d, const Eigen::Vector3i &index_3d, const Leaf &cell_data)
Go through all the entries in the hash table and update the cellData.
std::vector< int > data_indices
void getBoundingBox()
Get the bounding box for the input data points, also calculating the cell size, and the gaussian scal...
void getMinMax3D(const pcl::PointCloud< PointT > &cloud, PointT &min_pt, PointT &max_pt)
Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud...
void createSurfaceForCell(const Eigen::Vector3i &index, std::vector< int > &pt_union_indices)
Given the index of a cell, exam it's up, left, front edges, and add the vectices to m_surface list...
void fillPad(const Eigen::Vector3i &index)
For a given 3d index of a cell, test whether the cells within its padding area exist in the hash tabl...
void getCellCenterFromIndex(const Eigen::Vector3i &index, Eigen::Vector4f ¢er) const
Given the 3d index (x, y, z) of the cell, get the coordinates of the cell center. ...
std::vector< ::pcl::Vertices > polygons
pcl::PCLHeader header
The point cloud header.
void eigen33(const Matrix &mat, typename Matrix::Scalar &eigenvalue, Vector &eigenvector)
determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...
void getEigenVector1(Eigen::Matrix< real, dimension, 1 > &eigen_vector1) const
Get the eigenvector corresponding to the smallest eigenvalue.
void getDataPtsUnion(const Eigen::Vector3i &index, std::vector< int > &pt_union_indices)
Obtain the index of a cell and the pad size.
double getMagAtPoint(const Eigen::Vector4f &p, const std::vector< int > &pt_union_indices)
Get the magnitude of the vector by summing up the distance.
void storeVectAndSurfacePoint(int index_1d, const Eigen::Vector3i &index_3d, std::vector< int > &pt_union_indices, const Leaf &cell_data)
Go through all the entries in the hash table and update the cellData.
::pcl::PCLPointCloud2 cloud
void toPCLPointCloud2(const pcl::PointCloud< PointT > &cloud, pcl::PCLPointCloud2 &msg)
Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
double getD2AtPoint(const Eigen::Vector4f &p, const Eigen::Vector3f &vec, const std::vector< int > &pt_union_indices)
Get the 2nd derivative.
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values).
void getVectorAtPointKNN(const Eigen::Vector4f &p, std::vector< int > &k_indices, std::vector< float > &k_squared_distances, Eigen::Vector3f &vo)
Given the location of a point, get it's vector.
PointCloudConstPtr input_
The input point cloud dataset.
void resize(size_t n)
Resize the cloud.
void findIntersection(int level, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &end_pts, const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &vect_at_end_pts, const Eigen::Vector4f &start_pt, std::vector< int > &pt_union_indices, Eigen::Vector4f &intersection)
Find point where the edge intersects the surface.
void getVertexFromCellCenter(const Eigen::Vector4f &cell_center, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &pts) const
Given cell center, caluate the coordinates of the eight vertices of the cell.
void getProjectionWithPlaneFit(const Eigen::Vector4f &p, std::vector< int > &pt_union_indices, Eigen::Vector4f &projection)
Given the coordinates of one point, project it onto the surface, return the projected point...
int getIndexIn1D(const Eigen::Vector3i &index) const
Given an index (x, y, z) in 3d, translate it into the index in 1d.
const int I_SHIFT_EDGE[3][2]
bool reconstructPolygons(std::vector< pcl::Vertices > &polygons)
The actual surface reconstruction method.
Calculates the weighted average and the covariance matrix.
KdTreePtr tree_
A pointer to the spatial search object.
void getVectorAtPoint(const Eigen::Vector4f &p, std::vector< int > &pt_union_indices, Eigen::Vector3f &vo)
Given the location of a point, get it's vector.
GridProjection()
Constructor.