isae::Mesh3D Class Reference

A class to build and update a 3D mesh from 2D features and landmarks. More...

#include <mesh.h>

Public Member Functions
	Mesh3D ()=default
	Mesh3D (double ZNCC_tsh, double max_length_tsh)
	~Mesh3D ()=default
std::vector< std::shared_ptr< Polygon > >	getPolygonVector () const
std::vector< Eigen::Vector3d >	getPointCloud () const
std::shared_ptr< Frame >	getFrame () const
std::unordered_map< std::shared_ptr< ALandmark >, std::shared_ptr< Vertex > >	getMap ()
void	updateMesh (std::vector< FeatPolygon > feats_polygon, std::shared_ptr< Frame > frame)
	Update the 3D mesh with a 2D Mesh of features for a given frame. More...
bool	checkTriangle (std::vector< std::shared_ptr< Vertex >> vertices)
	Check if a triangle is valid. (i.e. no accute angles or too long edges) More...
bool	checkPolygon (std::shared_ptr< Polygon > polygon)
	Photometric check of a polygon using ZNCC on a patch on the barycenter of the polygon. More...
bool	checkPolygonArea (std::shared_ptr< Polygon > polygon, double area2d)
	EXPERIMENTAL Photometric check of a polygon using ZNCC on a patch on the barycenter of the polygon of a given 2D area. More...
bool	checkPolygonTri (std::shared_ptr< Polygon > polygon3d, FeatPolygon polygon2d)
	EXPERIMENTAL Photometric check of a polygon using ZNCC on a patch with the full 2D polygon in it. More...
void	removePolygon (std::shared_ptr< Polygon > polygon)
void	analysePolygon (std::shared_ptr< Polygon > polygon)
	Compute the barycenter and the normal of a polygon. More...
void	filterMesh ()
	Remove polygon outliers from the 3D mesh. More...
void	projectMesh ()
	Project the mesh on camera 0 of the current frame for raycasting. More...
void	generatePointCloud ()
	Generate a point cloud from the mesh with raycasting. More...

Public Attributes
std::mutex	_mesh_mtx
std::mutex	_pc_mtx

Detailed Description

A class to build and update a 3D mesh from 2D features and landmarks.

It saves all the usefull variables of the current frame used to build / update the mesh. The Mesh data structure is pretty naive for now: it is a vector of polygons where each polygon is a vector of vertices. There is room for improvement here. Moreover, it contains all the methods to filter the mesh and to perform raycasting on it.

Constructor & Destructor Documentation

Mesh3D() [1/2]

isae::Mesh3D::Mesh3D ( )

default

Mesh3D() [2/2]

isae::Mesh3D::Mesh3D ( double  ZNCC_tsh, double  max_length_tsh  )

inline

~Mesh3D()

isae::Mesh3D::~Mesh3D ( )

default

Member Function Documentation

analysePolygon()

void isae::Mesh3D::analysePolygon

(

std::shared_ptr< Polygon >

polygon

)

Compute the barycenter and the normal of a polygon.

checkPolygon()

bool isae::Mesh3D::checkPolygon

(

std::shared_ptr< Polygon >

polygon

)

Photometric check of a polygon using ZNCC on a patch on the barycenter of the polygon.

checkPolygonArea()

bool isae::Mesh3D::checkPolygonArea	(	std::shared_ptr< Polygon >	polygon,
		double	area2d
	)

EXPERIMENTAL Photometric check of a polygon using ZNCC on a patch on the barycenter of the polygon of a given 2D area.

checkPolygonTri()

bool isae::Mesh3D::checkPolygonTri	(	std::shared_ptr< Polygon >	polygon3d,
		FeatPolygon	polygon2d
	)

EXPERIMENTAL Photometric check of a polygon using ZNCC on a patch with the full 2D polygon in it.

checkTriangle()

bool isae::Mesh3D::checkTriangle

(

std::vector< std::shared_ptr< Vertex >>

vertices

)

Check if a triangle is valid. (i.e. no accute angles or too long edges)

filterMesh()

void isae::Mesh3D::filterMesh

(

)

Remove polygon outliers from the 3D mesh.

generatePointCloud()

void isae::Mesh3D::generatePointCloud

(

)

Generate a point cloud from the mesh with raycasting.

getFrame()

std::shared_ptr<Frame> isae::Mesh3D::getFrame ( ) const

inline

getMap()

std::unordered_map<std::shared_ptr<ALandmark>, std::shared_ptr<Vertex> > isae::Mesh3D::getMap ( )

inline

getPointCloud()

std::vector<Eigen::Vector3d> isae::Mesh3D::getPointCloud ( ) const

inline

getPolygonVector()

std::vector<std::shared_ptr<Polygon> > isae::Mesh3D::getPolygonVector ( ) const

inline

projectMesh()

void isae::Mesh3D::projectMesh

(

)

Project the mesh on camera 0 of the current frame for raycasting.

removePolygon()

void isae::Mesh3D::removePolygon ( std::shared_ptr< Polygon >  polygon )

inline

updateMesh()

void isae::Mesh3D::updateMesh	(	std::vector< FeatPolygon >	feats_polygon,
		std::shared_ptr< Frame >	frame
	)

Update the 3D mesh with a 2D Mesh of features for a given frame.

Parameters

feats_polygon	A vector of features to build the mesh.
frame	A shared pointer to the frame containing the features.

Member Data Documentation

_mesh_mtx

std::mutex isae::Mesh3D::_mesh_mtx

mutable

_pc_mtx

std::mutex isae::Mesh3D::_pc_mtx

mutable

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

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/mesh/mesh.h
• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/mesh/mesh.cpp