PointCloudLibrary

Data structure used to store the results of the MLS fitting. More...

#include <pcl/surface/mls.h>

Classes
struct	MLSProjectionResults
	Data structure used to store the MLS projection results. More...

struct	PolynomialPartialDerivative
	Data structure used to store the MLS polynomial partial derivatives. More...

Public Types
enum	ProjectionMethod { NONE, SIMPLE, ORTHOGONAL }

Public Member Functions
	MLSResult ()

	MLSResult (const Eigen::Vector3d &a_query_point, const Eigen::Vector3d &a_mean, const Eigen::Vector3d &a_plane_normal, const Eigen::Vector3d &a_u, const Eigen::Vector3d &a_v, const Eigen::VectorXd &a_c_vec, const int a_num_neighbors, const float a_curvature, const int a_order)

void	getMLSCoordinates (const Eigen::Vector3d &pt, double &u, double &v, double &w) const
	Given a point calculate its 3D location in the MLS frame. More...

void	getMLSCoordinates (const Eigen::Vector3d &pt, double &u, double &v) const
	Given a point calculate its 2D location in the MLS frame. More...

double	getPolynomialValue (const double u, const double v) const
	Calculate the polynomial. More...

PolynomialPartialDerivative	getPolynomialPartialDerivative (const double u, const double v) const
	Calculate the polynomial's first and second partial derivatives. More...

Eigen::Vector2f	calculatePrincipalCurvatures (const double u, const double v) const
	Calculate the principal curvatures using the polynomial surface. More...

Eigen::Vector2f	calculatePrincipleCurvatures (const double u, const double v) const
	Calculate the principal curvatures using the polynomial surface. More...

MLSProjectionResults	projectPointOrthogonalToPolynomialSurface (const double u, const double v, const double w) const
	Project a point orthogonal to the polynomial surface. More...

MLSProjectionResults	projectPointToMLSPlane (const double u, const double v) const
	Project a point onto the MLS plane. More...

MLSProjectionResults	projectPointSimpleToPolynomialSurface (const double u, const double v) const
	Project a point along the MLS plane normal to the polynomial surface. More...

MLSProjectionResults	projectPoint (const Eigen::Vector3d &pt, ProjectionMethod method, int required_neighbors=0) const
	Project a point using the specified method. More...

MLSProjectionResults	projectQueryPoint (ProjectionMethod method, int required_neighbors=0) const
	Project the query point used to generate the mls surface about using the specified method. More...

template<typename PointT >
void	computeMLSSurface (const pcl::PointCloud< PointT > &cloud, pcl::index_t index, const pcl::Indices &nn_indices, double search_radius, int polynomial_order=2, std::function< double(const double)> weight_func={})
	Smooth a given point and its neighborhood using Moving Least Squares. More...

Public Attributes
Eigen::Vector3d	query_point
	The query point about which the mls surface was generated. More...

Eigen::Vector3d	mean
	The mean point of all the neighbors. More...

Eigen::Vector3d	plane_normal
	The normal of the local plane of the query point. More...

Eigen::Vector3d	u_axis
	The axis corresponding to the u-coordinates of the local plane of the query point. More...

Eigen::Vector3d	v_axis
	The axis corresponding to the v-coordinates of the local plane of the query point. More...

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]uv + c_vec[5]u^2. More...

int	num_neighbors
	The number of neighbors used to create the mls surface. More...

float	curvature
	The curvature at the query point. More...

int	order
	The order of the polynomial. More...

bool	valid
	If True, the mls results data is valid, otherwise False. More...

Detailed Description

Data structure used to store the results of the MLS fitting.

Definition at line 59 of file mls.h.

Member Enumeration Documentation

ProjectionMethod

enum pcl::MLSResult::ProjectionMethod

Enumerator
NONE	Project to the mls plane.
SIMPLE	Project along the mls plane normal to the polynomial surface.
ORTHOGONAL	Project to the closest point on the polynonomial surface.

Definition at line 61 of file mls.h.

Constructor & Destructor Documentation

MLSResult() [1/2]

pcl::MLSResult::MLSResult ( )

inline

Definition at line 92 of file mls.h.

MLSResult() [2/2]

pcl::MLSResult::MLSResult	(	const Eigen::Vector3d &	a_query_point,
		const Eigen::Vector3d &	a_mean,
		const Eigen::Vector3d &	a_plane_normal,
		const Eigen::Vector3d &	a_u,
		const Eigen::Vector3d &	a_v,
		const Eigen::VectorXd &	a_c_vec,
		const int	a_num_neighbors,
		const float	a_curvature,
		const int	a_order
	)

inline

Definition at line 439 of file mls.hpp.

Member Function Documentation

calculatePrincipalCurvatures()

Eigen::Vector2f pcl::MLSResult::calculatePrincipalCurvatures	(	const double	u,
		const double	v
	)		const

Calculate the principal curvatures using the polynomial surface.

Parameters

[in]	u	The u-coordinate of the point in local MLS frame.
[in]	v	The v-coordinate of the point in local MLS frame.

Returns: The principal curvature [k1, k2] at the provided uv coordinates.

Note: If an error occurs then 1e-5 is returned.

Referenced by calculatePrincipleCurvatures().

calculatePrincipleCurvatures()

Eigen::Vector2f pcl::MLSResult::calculatePrincipleCurvatures	(	const double	u,
		const double	v
	)		const

inline

Calculate the principal curvatures using the polynomial surface.

Parameters

[in]	u	The u-coordinate of the point in local MLS frame.
[in]	v	The v-coordinate of the point in local MLS frame.

Returns: The principal curvature [k1, k2] at the provided uv coordinates.

Note: If an error occurs then 1e-5 is returned.

Deprecated:: Scheduled for removal in version 1 . 15 : "use calculatePrincipalCurvatures() instead"

Definition at line 155 of file mls.h.

References calculatePrincipalCurvatures().

computeMLSSurface()

template<typename PointT >

void pcl::MLSResult::computeMLSSurface	(	const pcl::PointCloud< PointT > &	cloud,
		pcl::index_t	index,
		const pcl::Indices &	nn_indices,
		double	search_radius,
		int	polynomial_order = `2`,
		std::function< double(const double)>	weight_func = `{}`
	)

Smooth a given point and its neighborhood using Moving Least Squares.

Parameters

[in]	cloud	the input cloud, used together with index and nn_indices
[in]	index	the index of the query point in the input cloud
[in]	nn_indices	the set of nearest neighbors indices for pt
[in]	search_radius	the search radius used to find nearest neighbors for pt
[in]	polynomial_order	the order of the polynomial to fit to the nearest neighbors
[in]	weight_func	defines the weight function for the polynomial fit

Definition at line 690 of file mls.hpp.

References pcl::compute3DCentroid(), pcl::computeCovarianceMatrix(), pcl::geometry::distance(), and pcl::eigen33().

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::computeMLSPointNormal().

getMLSCoordinates() [1/2]

void pcl::MLSResult::getMLSCoordinates	(	const Eigen::Vector3d &	pt,
		double &	u,
		double &	v
	)		const

inline

Given a point calculate its 2D location in the MLS frame.

Parameters

[in]	pt	The point
[out]	u	The u-coordinate of the point in local MLS frame.
[out]	v	The v-coordinate of the point in local MLS frame.

Definition at line 462 of file mls.hpp.

getMLSCoordinates() [2/2]

void pcl::MLSResult::getMLSCoordinates	(	const Eigen::Vector3d &	pt,
		double &	u,
		double &	v,
		double &	w
	)		const

inline

Given a point calculate its 3D location in the MLS frame.

Parameters

[in]	pt	The point
[out]	u	The u-coordinate of the point in local MLS frame.
[out]	v	The v-coordinate of the point in local MLS frame.
[out]	w	The w-coordinate of the point in local MLS frame.

Definition at line 453 of file mls.hpp.

getPolynomialPartialDerivative()

pcl::MLSResult::PolynomialPartialDerivative pcl::MLSResult::getPolynomialPartialDerivative	(	const double	u,
		const double	v
	)		const

inline

Calculate the polynomial's first and second partial derivatives.

Parameters

[in]	u	The u-coordinate of the point in local MLS frame.
[in]	v	The v-coordinate of the point in local MLS frame.

Returns: The polynomial partial derivatives at the provided uv coordinates.

Definition at line 492 of file mls.hpp.

getPolynomialValue()

double pcl::MLSResult::getPolynomialValue	(	const double	u,
		const double	v
	)		const

inline

Calculate the polynomial.

Parameters

[in]	u	The u-coordinate of the point in local MLS frame.
[in]	v	The v-coordinate of the point in local MLS frame.

Returns: The polynomial value at the provided uv coordinates.

Definition at line 470 of file mls.hpp.

projectPoint()

pcl::MLSResult::MLSProjectionResults pcl::MLSResult::projectPoint	(	const Eigen::Vector3d &	pt,
		ProjectionMethod	method,
		int	required_neighbors = `0`
	)		const

inline

Project a point using the specified method.

Parameters

[in]	pt	The point to be project.
[in]	method	The projection method to be used.
[in]	required_neighbors	The minimum number of neighbors required.

Note: If required_neighbors is 0 then any number of neighbors is allowed.; If required_neighbors is not satisfied it projects to the mls plane.

Returns: The MLSProjectionResults for the input data.

Definition at line 637 of file mls.hpp.

projectPointOrthogonalToPolynomialSurface()

pcl::MLSResult::MLSProjectionResults pcl::MLSResult::projectPointOrthogonalToPolynomialSurface	(	const double	u,
		const double	v,
		const double	w
	)		const

inline

Project a point orthogonal to the polynomial surface.

Parameters

[in]	u	The u-coordinate of the point in local MLS frame.
[in]	v	The v-coordinate of the point in local MLS frame.
[in]	w	The w-coordinate of the point in local MLS frame.

Returns: The MLSProjectionResults for the input data.

Note: If the MLSResults does not contain polynomial data it projects the point onto the mls plane.; If the optimization diverges it performs a simple projection on to the polynomial surface.; This was implemented based on this https://math.stackexchange.com/questions/1497093/shortest-distance-between-point-and-surface

Definition at line 537 of file mls.hpp.

References pcl::MLSResult::MLSProjectionResults::normal, pcl::MLSResult::MLSProjectionResults::point, pcl::MLSResult::MLSProjectionResults::u, pcl::MLSResult::MLSProjectionResults::v, pcl::MLSResult::PolynomialPartialDerivative::z, pcl::MLSResult::PolynomialPartialDerivative::z_u, pcl::MLSResult::PolynomialPartialDerivative::z_uu, pcl::MLSResult::PolynomialPartialDerivative::z_uv, pcl::MLSResult::PolynomialPartialDerivative::z_v, and pcl::MLSResult::PolynomialPartialDerivative::z_vv.

projectPointSimpleToPolynomialSurface()

pcl::MLSResult::MLSProjectionResults pcl::MLSResult::projectPointSimpleToPolynomialSurface	(	const double	u,
		const double	v
	)		const

inline

Project a point along the MLS plane normal to the polynomial surface.

Parameters

[in]	u	The u-coordinate of the point in local MLS frame.
[in]	v	The v-coordinate of the point in local MLS frame.

Returns: The MLSProjectionResults for the input data.

Note: If the MLSResults does not contain polynomial data it projects the point onto the mls plane.

Definition at line 614 of file mls.hpp.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::computeMLSPointNormal().

projectPointToMLSPlane()

pcl::MLSResult::MLSProjectionResults pcl::MLSResult::projectPointToMLSPlane	(	const double	u,
		const double	v
	)		const

inline

Project a point onto the MLS plane.

Parameters

[in]	u	The u-coordinate of the point in local MLS frame.
[in]	v	The v-coordinate of the point in local MLS frame.

Returns: The MLSProjectionResults for the input data.

Definition at line 602 of file mls.hpp.

References pcl::MLSResult::MLSProjectionResults::normal, pcl::MLSResult::MLSProjectionResults::point, pcl::MLSResult::MLSProjectionResults::u, and pcl::MLSResult::MLSProjectionResults::v.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::computeMLSPointNormal().

projectQueryPoint()

pcl::MLSResult::MLSProjectionResults pcl::MLSResult::projectQueryPoint	(	ProjectionMethod	method,
		int	required_neighbors = `0`
	)		const

inline

Project the query point used to generate the mls surface about using the specified method.

Parameters

[in]	method	The projection method to be used.
[in]	required_neighbors	The minimum number of neighbors required.

Note: If required_neighbors is 0 then any number of neighbors is allowed.; If required_neighbors is not satisfied it projects to the mls plane.

Returns: The MLSProjectionResults for the input data.

Definition at line 659 of file mls.hpp.

References pcl::MLSResult::MLSProjectionResults::normal, and pcl::MLSResult::MLSProjectionResults::point.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::computeMLSPointNormal().

Member Data Documentation

c_vec

Eigen::VectorXd pcl::MLSResult::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]*u*v + c_vec[5]*u^2.

Definition at line 230 of file mls.h.

curvature

float pcl::MLSResult::curvature

The curvature at the query point.

Definition at line 232 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::computeMLSPointNormal().

mean

Eigen::Vector3d pcl::MLSResult::mean

The mean point of all the neighbors.

Definition at line 226 of file mls.h.

num_neighbors

int pcl::MLSResult::num_neighbors

The number of neighbors used to create the mls surface.

Definition at line 231 of file mls.h.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::computeMLSPointNormal().

order

int pcl::MLSResult::order

The order of the polynomial.

If order > 1 then use polynomial fit

Definition at line 233 of file mls.h.

plane_normal

Eigen::Vector3d pcl::MLSResult::plane_normal

The normal of the local plane of the query point.

Definition at line 227 of file mls.h.

query_point

Eigen::Vector3d pcl::MLSResult::query_point

The query point about which the mls surface was generated.

Definition at line 225 of file mls.h.

u_axis

Eigen::Vector3d pcl::MLSResult::u_axis

The axis corresponding to the u-coordinates of the local plane of the query point.

Definition at line 228 of file mls.h.

v_axis

Eigen::Vector3d pcl::MLSResult::v_axis

The axis corresponding to the v-coordinates of the local plane of the query point.

Definition at line 229 of file mls.h.

valid

bool pcl::MLSResult::valid

If True, the mls results data is valid, otherwise False.

Definition at line 234 of file mls.h.

The documentation for this struct was generated from the following files:

pcl/surface/mls.h
pcl/surface/impl/mls.hpp

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/structpcl_1_1_m_l_s_result.html

Name	PointCloudLibrary
Version
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Last Updated	2021-12-29T19:25:09Z

Classes

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

ProjectionMethod

Constructor & Destructor Documentation

MLSResult() [1/2]

MLSResult() [2/2]

Member Function Documentation

calculatePrincipalCurvatures()

calculatePrincipleCurvatures()

computeMLSSurface()

getMLSCoordinates() [1/2]

getMLSCoordinates() [2/2]

getPolynomialPartialDerivative()

getPolynomialValue()

projectPoint()

projectPointOrthogonalToPolynomialSurface()

projectPointSimpleToPolynomialSurface()

projectPointToMLSPlane()

projectQueryPoint()

Member Data Documentation

c_vec

curvature

mean

num_neighbors

order

plane_normal

query_point

u_axis

v_axis

valid