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Add documentation for MLSResults and cache MLS results by default
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@Levi-Armstrong
Levi-Armstrong committed Aug 5, 2017
1 parent b8e0c56 commit 60f5e1b
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Showing 2 changed files with 35 additions and 31 deletions.
20 changes: 9 additions & 11 deletions surface/include/pcl/surface/impl/mls.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,14 +121,15 @@ pcl::MovingLeastSquares<PointInT, PointOutT>::process (PointCloudOut &output)
}
case (VOXEL_GRID_DILATION):
case (DISTINCT_CLOUD):
{
cache_mls_results_ = true;
break;
}
{
if (!cache_mls_results_)
PCL_WARN("The cache mls results is forced when using upsampling method VOXEL_GRID_DILATION or DISTINCT_CLOUD.\n");

cache_mls_results_ = true;
break;
}
default:
{
break;
}
break;
}

if (cache_mls_results_)
Expand Down Expand Up @@ -404,11 +405,8 @@ pcl::MovingLeastSquares<PointInT, PointOutT>::computeMLSPointNormal (int index,
break;
}

case (VOXEL_GRID_DILATION):
case (DISTINCT_CLOUD):
{
default:
break;
}
}
}

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46 changes: 26 additions & 20 deletions surface/include/pcl/surface/mls.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,12 +52,10 @@

namespace pcl
{
/** \brief Data structure used to store the results of the MLS fitting
* \note Used only in the case of VOXEL_GRID_DILATION or DISTINCT_CLOUD upsampling
*/
/** \brief Data structure used to store the results of the MLS fitting */
struct MLSResult
{
MLSResult () : mean (), plane_normal (), u_axis (), v_axis (), c_vec (), num_neighbors (), curvature (), valid (false) {}
MLSResult () : num_neighbors (0), curvature (0.0f), valid (false) {}

MLSResult (const Eigen::Vector3d &a_mean,
const Eigen::Vector3d &a_plane_normal,
Expand All @@ -67,11 +65,14 @@ namespace pcl
const int a_num_neighbors,
const float &a_curvature);

Eigen::Vector3d mean, plane_normal, u_axis, v_axis;
Eigen::VectorXd c_vec;
int num_neighbors;
float curvature;
bool valid;
Eigen::Vector3d mean; /**< \brief The mean point of all the neighbors. */
Eigen::Vector3d plane_normal; /**< \brief The normal of the local plane of the query point. */
Eigen::Vector3d u_axis; /**< \brief The axis corresponding to the u-coordinates of the local plane of the query point. */
Eigen::Vector3d v_axis; /**< \brief The axis corresponding to the v-coordinates of the local plane of the query point. */
Eigen::VectorXd c_vec; /**< \brief 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 */
int num_neighbors; /**< \brief The number of neighbors used to create the mls surface. */
float curvature; /**< \brief The curvature at the query point. */
bool valid; /**< \brief If True, the mls results data is valid, otherwise False. */
};

/** \brief MovingLeastSquares represent an implementation of the MLS (Moving Least Squares) algorithm
Expand Down Expand Up @@ -128,7 +129,7 @@ namespace pcl
upsampling_radius_ (0.0),
upsampling_step_ (0.0),
desired_num_points_in_radius_ (0),
cache_mls_results_ (false),
cache_mls_results_ (true),
mls_results_ (),
voxel_size_ (1.0),
dilation_iteration_num_ (0),
Expand Down Expand Up @@ -308,6 +309,8 @@ namespace pcl

/** \brief Set wether the mls results should be stored for each point in the input cloud
* \param[in] True if the mls results should be stored, otherwise false.
* \note The cache_mls_results_ is forced to true when using upsampling method VOXEL_GRID_DILATION or DISTINCT_CLOUD.
* \note If memory consumption is a concern set to false, when not using upsampling method VOXEL_GRID_DILATION or DISTINCT_CLOUD.
*/
inline void
setCacheMLSResults (bool cache_mls_results) { cache_mls_results_ = cache_mls_results; }
Expand Down Expand Up @@ -380,7 +383,9 @@ namespace pcl
*/
int desired_num_points_in_radius_;

/** \brief True if the mls results for the input cloud should be stored */
/** \brief True if the mls results for the input cloud should be stored
* \note This is forced to true when using upsampling methods VOXEL_GRID_DILATION or DISTINCT_CLOUD.
*/
bool cache_mls_results_;

/** \brief Stores the MLS result for each point in the input cloud
Expand Down Expand Up @@ -560,15 +565,6 @@ namespace pcl
typedef boost::shared_ptr<MovingLeastSquares<PointInT, PointOutT> > Ptr;
typedef boost::shared_ptr<const MovingLeastSquares<PointInT, PointOutT> > ConstPtr;

using PCLBase<PointInT>::input_;
using PCLBase<PointInT>::indices_;
using MovingLeastSquares<PointInT, PointOutT>::normals_;
using MovingLeastSquares<PointInT, PointOutT>::corresponding_input_indices_;
using MovingLeastSquares<PointInT, PointOutT>::nr_coeff_;
using MovingLeastSquares<PointInT, PointOutT>::order_;
using MovingLeastSquares<PointInT, PointOutT>::compute_normals_;
using MovingLeastSquares<PointInT, PointOutT>::upsample_method_;
using MovingLeastSquares<PointInT, PointOutT>::cache_mls_results_;
using MovingLeastSquares<PointInT, PointOutT>::VOXEL_GRID_DILATION;
using MovingLeastSquares<PointInT, PointOutT>::DISTINCT_CLOUD;

Expand Down Expand Up @@ -597,6 +593,16 @@ namespace pcl
}

protected:
using PCLBase<PointInT>::input_;
using PCLBase<PointInT>::indices_;
using MovingLeastSquares<PointInT, PointOutT>::normals_;
using MovingLeastSquares<PointInT, PointOutT>::corresponding_input_indices_;
using MovingLeastSquares<PointInT, PointOutT>::nr_coeff_;
using MovingLeastSquares<PointInT, PointOutT>::order_;
using MovingLeastSquares<PointInT, PointOutT>::compute_normals_;
using MovingLeastSquares<PointInT, PointOutT>::upsample_method_;
using MovingLeastSquares<PointInT, PointOutT>::cache_mls_results_;

/** \brief Abstract surface reconstruction method.
* \param[out] output the result of the reconstruction
*/
Expand Down

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