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bspline_data.hpp
/*
Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list of
conditions and the following disclaimer. Redistributions in binary form must reproduce
the above copyright notice, this list of conditions and the following disclaimer
in the documentation and/or other materials provided with the distribution.
Neither the name of the Johns Hopkins University nor the names of its contributors
may be used to endorse or promote products derived from this software without specific
prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.
*/
#include "poisson_exceptions.h"
#include "binary_node.h"
namespace pcl
{
namespace poisson
{
/////////////////
// BSplineData //
/////////////////
// Support[i]:
// Odd: i +/- 0.5 * ( 1 + Degree )
// i - 0.5 * ( 1 + Degree ) < 0
// <=> i < 0.5 * ( 1 + Degree )
// i + 0.5 * ( 1 + Degree ) > 0
// <=> i > - 0.5 * ( 1 + Degree )
// i + 0.5 * ( 1 + Degree ) > r
// <=> i > r - 0.5 * ( 1 + Degree )
// i - 0.5 * ( 1 + Degree ) < r
// <=> i < r + 0.5 * ( 1 + Degree )
// Even: i + 0.5 +/- 0.5 * ( 1 + Degree )
// i - 0.5 * Degree < 0
// <=> i < 0.5 * Degree
// i + 1 + 0.5 * Degree > 0
// <=> i > -1 - 0.5 * Degree
// i + 1 + 0.5 * Degree > r
// <=> i > r - 1 - 0.5 * Degree
// i - 0.5 * Degree < r
// <=> i < r + 0.5 * Degree
template< int Degree > inline bool LeftOverlap( unsigned int, int offset )
{
offset <<= 1;
if( Degree & 1 ) return (offset < 1+Degree) && (offset > -1-Degree );
else return (offset < Degree) && (offset > -2-Degree );
}
template< int Degree > inline bool RightOverlap( unsigned int, int offset )
{
offset <<= 1;
if( Degree & 1 ) return (offset > 2-1-Degree) && (offset < 2+1+Degree );
else return (offset > 2-2-Degree) && (offset < 2+ Degree );
}
template< int Degree > inline int ReflectLeft( unsigned int, int offset )
{
if( Degree&1 ) return -offset;
else return -1-offset;
}
template< int Degree > inline int ReflectRight( unsigned int depth , int offset )
{
int r = 1<<(depth+1);
if( Degree&1 ) return r -offset;
else return r-1-offset;
}
template< int Degree , class Real >
BSplineData<Degree,Real>::BSplineData( )
{
vvDotTable = dvDotTable = ddDotTable = NULL;
valueTables = dValueTables = NULL;
baseFunctions = NULL;
baseBSplines = NULL;
functionCount = sampleCount = 0;
}
template< int Degree , class Real >
BSplineData< Degree , Real >::~BSplineData()
{
if( functionCount )
{
delete[] vvDotTable;
delete[] dvDotTable;
delete[] ddDotTable;
delete[] valueTables;
delete[] dValueTables;
delete[] baseFunctions;
delete[] baseBSplines;
}
vvDotTable = dvDotTable = ddDotTable = NULL;
valueTables = dValueTables=NULL;
baseFunctions = NULL;
baseBSplines = NULL;
functionCount = 0;
}
template<int Degree,class Real>
void BSplineData<Degree,Real>::set( int maxDepth , bool useDotRatios , bool reflectBoundary )
{
this->useDotRatios = useDotRatios;
this->reflectBoundary = reflectBoundary;
depth = maxDepth;
// [Warning] This assumes that the functions spacing is dual
functionCount = BinaryNode< double >::CumulativeCenterCount( depth );
sampleCount = BinaryNode< double >::CenterCount( depth ) + BinaryNode< double >::CornerCount( depth );
baseFunctions = new PPolynomial<Degree>[functionCount];
baseBSplines = new BSplineComponents[functionCount];
baseFunction = PPolynomial< Degree >::BSpline();
for( int i=0 ; i<=Degree ; i++ ) baseBSpline[i] = Polynomial< Degree >::BSplineComponent( i ).shift( static_cast<double>(-(Degree+1)/2) + i - 0.5 );
dBaseFunction = baseFunction.derivative();
StartingPolynomial< Degree > sPolys[Degree+3];
for( int i=0 ; i<Degree+3 ; i++ )
{
sPolys[i].start = static_cast<double>(-(Degree+1)/2) + i - 1.5;
sPolys[i].p *= 0;
if( i<=Degree ) sPolys[i].p += baseBSpline[i ].shift( -1 );
if( i>=1 && i<=Degree+1 ) sPolys[i].p += baseBSpline[i-1];
for( int j=0 ; j<i ; j++ ) sPolys[i].p -= sPolys[j].p;
}
leftBaseFunction.set( sPolys , Degree+3 );
for( int i=0 ; i<Degree+3 ; i++ )
{
sPolys[i].start = static_cast<double>(-(Degree+1)/2) + i - 0.5;
sPolys[i].p *= 0;
if( i<=Degree ) sPolys[i].p += baseBSpline[i ];
if( i>=1 && i<=Degree+1 ) sPolys[i].p += baseBSpline[i-1].shift( 1 );
for( int j=0 ; j<i ; j++ ) sPolys[i].p -= sPolys[j].p;
}
rightBaseFunction.set( sPolys , Degree+3 );
dLeftBaseFunction = leftBaseFunction.derivative();
dRightBaseFunction = rightBaseFunction.derivative();
leftBSpline = rightBSpline = baseBSpline;
leftBSpline [1] += leftBSpline[2].shift( -1 ) , leftBSpline[0] *= 0;
rightBSpline[1] += rightBSpline[0].shift( 1 ) , rightBSpline[2] *= 0;
double c , w;
for( int i=0 ; i<functionCount ; i++ )
{
BinaryNode< double >::CenterAndWidth( i , c , w );
baseFunctions[i] = baseFunction.scale(w).shift(c);
baseBSplines[i] = baseBSpline.scale(w).shift(c);
if( reflectBoundary )
{
int d , off , r;
BinaryNode< double >::DepthAndOffset( i , d , off );
r = 1<<d;
if ( off==0 ) baseFunctions[i] = leftBaseFunction.scale(w).shift(c);
else if( off==r-1 ) baseFunctions[i] = rightBaseFunction.scale(w).shift(c);
if ( off==0 ) baseBSplines[i] = leftBSpline.scale(w).shift(c);
else if( off==r-1 ) baseBSplines[i] = rightBSpline.scale(w).shift(c);
}
}
}
template<int Degree,class Real>
void BSplineData<Degree,Real>::setDotTables( int flags )
{
clearDotTables( flags );
int size = ( functionCount*functionCount + functionCount )>>1;
int fullSize = functionCount*functionCount;
if( flags & VV_DOT_FLAG )
{
vvDotTable = new Real[size]{};
}
if( flags & DV_DOT_FLAG )
{
dvDotTable = new Real[fullSize]{};
}
if( flags & DD_DOT_FLAG )
{
ddDotTable = new Real[size]{};
}
double vvIntegrals[Degree+1][Degree+1];
double vdIntegrals[Degree+1][Degree ];
double dvIntegrals[Degree ][Degree+1];
double ddIntegrals[Degree ][Degree ];
int vvSums[Degree+1][Degree+1];
int vdSums[Degree+1][Degree ];
int dvSums[Degree ][Degree+1];
int ddSums[Degree ][Degree ];
SetBSplineElementIntegrals< Degree , Degree >( vvIntegrals );
SetBSplineElementIntegrals< Degree , Degree-1 >( vdIntegrals );
SetBSplineElementIntegrals< Degree-1 , Degree >( dvIntegrals );
SetBSplineElementIntegrals< Degree-1 , Degree-1 >( ddIntegrals );
for( int d1=0 ; d1<=depth ; d1++ )
for( int off1=0 ; off1<(1<<d1) ; off1++ )
{
int ii = BinaryNode< Real >::CenterIndex( d1 , off1 );
BSplineElements< Degree > b1( 1<<d1 , off1 , reflectBoundary ? BSplineElements<Degree>::NEUMANN : BSplineElements< Degree>::NONE );
BSplineElements< Degree-1 > db1;
b1.differentiate( db1 );
int start1 , end1;
start1 = -1;
for( int i=0 ; i<int(b1.size()) ; i++ ) for( int j=0 ; j<=Degree ; j++ )
{
if( b1[i][j] && start1==-1 ) start1 = i;
if( b1[i][j] ) end1 = i+1;
}
for( int d2=d1 ; d2<=depth ; d2++ )
{
for( int off2=0 ; off2<(1<<d2) ; off2++ )
{
int start2 = off2-Degree;
int end2 = off2+Degree+1;
if( start2>=end1 || start1>=end2 ) continue;
start2 = std::max< int >( start1 , start2 );
end2 = std::min< int >( end1 , end2 );
if( d1==d2 && off2<off1 ) continue;
int jj = BinaryNode< Real >::CenterIndex( d2 , off2 );
BSplineElements< Degree > b2( 1<<d2 , off2 , reflectBoundary ? BSplineElements<Degree>::NEUMANN : BSplineElements< Degree>::NONE );
BSplineElements< Degree-1 > db2;
b2.differentiate( db2 );
int idx = SymmetricIndex( ii , jj );
int idx1 = Index( ii , jj ) , idx2 = Index( jj , ii );
memset( vvSums , 0 , sizeof( int ) * ( Degree+1 ) * ( Degree+1 ) );
memset( vdSums , 0 , sizeof( int ) * ( Degree+1 ) * ( Degree ) );
memset( dvSums , 0 , sizeof( int ) * ( Degree ) * ( Degree+1 ) );
memset( ddSums , 0 , sizeof( int ) * ( Degree ) * ( Degree ) );
for( int i=start2 ; i<end2 ; i++ )
{
for( int j=0 ; j<=Degree ; j++ ) for( int k=0 ; k<=Degree ; k++ ) vvSums[j][k] += b1[i][j] * b2[i][k];
for( int j=0 ; j<=Degree ; j++ ) for( int k=0 ; k< Degree ; k++ ) vdSums[j][k] += b1[i][j] * db2[i][k];
for( int j=0 ; j< Degree ; j++ ) for( int k=0 ; k<=Degree ; k++ ) dvSums[j][k] += db1[i][j] * b2[i][k];
for( int j=0 ; j< Degree ; j++ ) for( int k=0 ; k< Degree ; k++ ) ddSums[j][k] += db1[i][j] * db2[i][k];
}
double vvDot = 0 , dvDot = 0 , vdDot = 0 , ddDot = 0;
for( int j=0 ; j<=Degree ; j++ ) for( int k=0 ; k<=Degree ; k++ ) vvDot += vvIntegrals[j][k] * vvSums[j][k];
for( int j=0 ; j<=Degree ; j++ ) for( int k=0 ; k< Degree ; k++ ) vdDot += vdIntegrals[j][k] * vdSums[j][k];
for( int j=0 ; j< Degree ; j++ ) for( int k=0 ; k<=Degree ; k++ ) dvDot += dvIntegrals[j][k] * dvSums[j][k];
for( int j=0 ; j< Degree ; j++ ) for( int k=0 ; k< Degree ; k++ ) ddDot += ddIntegrals[j][k] * ddSums[j][k];
vvDot /= (1<<d2);
ddDot *= (1<<d2);
vvDot /= ( b1.denominator * b2.denominator );
dvDot /= ( b1.denominator * b2.denominator );
vdDot /= ( b1.denominator * b2.denominator );
ddDot /= ( b1.denominator * b2.denominator );
if( fabs(vvDot)<1e-15 ) continue;
if( flags & VV_DOT_FLAG ) vvDotTable [idx] = Real( vvDot );
if( useDotRatios )
{
if( flags & DV_DOT_FLAG ) dvDotTable[idx1] = Real( dvDot / vvDot );
if( flags & DV_DOT_FLAG ) dvDotTable[idx2] = Real( vdDot / vvDot );
if( flags & DD_DOT_FLAG ) ddDotTable[idx ] = Real( ddDot / vvDot );
}
else
{
if( flags & DV_DOT_FLAG ) dvDotTable[idx1] = Real( dvDot );
if( flags & DV_DOT_FLAG ) dvDotTable[idx2] = Real( dvDot );
if( flags & DD_DOT_FLAG ) ddDotTable[idx ] = Real( ddDot );
}
}
BSplineElements< Degree > b;
b = b1;
b.upSample( b1 );
b1.differentiate( db1 );
start1 = -1;
for( int i=0 ; i<int(b1.size()) ; i++ ) for( int j=0 ; j<=Degree ; j++ )
{
if( b1[i][j] && start1==-1 ) start1 = i;
if( b1[i][j] ) end1 = i+1;
}
}
}
}
template<int Degree,class Real>
void BSplineData<Degree,Real>::clearDotTables( int flags )
{
if (flags & VV_DOT_FLAG) {
delete[] vvDotTable ; vvDotTable = NULL;
}
if (flags & DV_DOT_FLAG) {
delete[] dvDotTable ; dvDotTable = NULL;
}
if (flags & DD_DOT_FLAG) {
delete[] ddDotTable ; ddDotTable = NULL;
}
}
template< int Degree , class Real >
void BSplineData< Degree , Real >::setSampleSpan( int idx , int& start , int& end , double smooth ) const
{
int d , off , res;
BinaryNode< double >::DepthAndOffset( idx , d , off );
res = 1<<d;
double _start = ( off + 0.5 - 0.5*(Degree+1) ) / res - smooth;
double _end = ( off + 0.5 + 0.5*(Degree+1) ) / res + smooth;
// (start)/(sampleCount-1) >_start && (start-1)/(sampleCount-1)<=_start
// => start > _start * (sampleCount-1 ) && start <= _start*(sampleCount-1) + 1
// => _start * (sampleCount-1) + 1 >= start > _start * (sampleCount-1)
start = static_cast<int>( floor( _start * (sampleCount-1) + 1 ) );
if( start<0 ) start = 0;
// (end)/(sampleCount-1)<_end && (end+1)/(sampleCount-1)>=_end
// => end < _end * (sampleCount-1 ) && end >= _end*(sampleCount-1) - 1
// => _end * (sampleCount-1) > end >= _end * (sampleCount-1) - 1
end = static_cast<int>( ceil( _end * (sampleCount-1) - 1 ) );
if( end>=sampleCount ) end = sampleCount-1;
}
template<int Degree,class Real>
void BSplineData<Degree,Real>::setValueTables( int flags , double smooth )
{
clearValueTables();
if( flags & VALUE_FLAG ) valueTables = new Real[functionCount*sampleCount];
if( flags & D_VALUE_FLAG ) dValueTables = new Real[functionCount*sampleCount];
PPolynomial<Degree+1> function;
PPolynomial<Degree> dFunction;
for( int i=0 ; i<functionCount ; i++ )
{
if(smooth>0)
{
function = baseFunctions[i].MovingAverage(smooth);
dFunction = baseFunctions[i].derivative().MovingAverage(smooth);
}
else
{
function = baseFunctions[i];
dFunction = baseFunctions[i].derivative();
}
for( int j=0 ; j<sampleCount ; j++ )
{
double x=static_cast<double>(j)/(sampleCount-1);
if(flags & VALUE_FLAG){ valueTables[j*functionCount+i]=Real( function(x));}
if(flags & D_VALUE_FLAG){dValueTables[j*functionCount+i]=Real(dFunction(x));}
}
}
}
template<int Degree,class Real>
void BSplineData<Degree,Real>::setValueTables(int flags,double valueSmooth,double normalSmooth){
clearValueTables();
if(flags & VALUE_FLAG){ valueTables=new Real[functionCount*sampleCount];}
if(flags & D_VALUE_FLAG){dValueTables=new Real[functionCount*sampleCount];}
PPolynomial<Degree+1> function;
PPolynomial<Degree> dFunction;
for(int i=0;i<functionCount;i++){
if(valueSmooth>0) { function=baseFunctions[i].MovingAverage(valueSmooth);}
else { function=baseFunctions[i];}
if(normalSmooth>0) {dFunction=baseFunctions[i].derivative().MovingAverage(normalSmooth);}
else {dFunction=baseFunctions[i].derivative();}
for(int j=0;j<sampleCount;j++){
double x=static_cast<double>(j)/(sampleCount-1);
if(flags & VALUE_FLAG){ valueTables[j*functionCount+i]=Real( function(x));}
if(flags & D_VALUE_FLAG){dValueTables[j*functionCount+i]=Real(dFunction(x));}
}
}
}
template<int Degree,class Real>
void BSplineData<Degree,Real>::clearValueTables(){
delete[] valueTables;
delete[] dValueTables;
valueTables=dValueTables=NULL;
}
template<int Degree,class Real>
inline int BSplineData<Degree,Real>::Index( int i1 , int i2 ) const { return i1*functionCount+i2; }
template<int Degree,class Real>
inline int BSplineData<Degree,Real>::SymmetricIndex( int i1 , int i2 )
{
if( i1>i2 ) return ((i1*i1+i1)>>1)+i2;
else return ((i2*i2+i2)>>1)+i1;
}
template<int Degree,class Real>
inline int BSplineData<Degree,Real>::SymmetricIndex( int i1 , int i2 , int& index )
{
if( i1<i2 )
{
index = ((i2*i2+i2)>>1)+i1;
return 1;
}
else
{
index = ((i1*i1+i1)>>1)+i2;
return 0;
}
}
////////////////////////
// BSplineElementData //
////////////////////////
template< int Degree >
BSplineElements< Degree >::BSplineElements( int res , int offset , int boundary )
{
denominator = 1;
this->resize( res , BSplineElementCoefficients<Degree>() );
for( int i=0 ; i<=Degree ; i++ )
{
int idx = -_off + offset + i;
if( idx>=0 && idx<res ) (*this)[idx][i] = 1;
}
if( boundary!=0 )
{
_addLeft( offset-2*res , boundary ) , _addRight( offset+2*res , boundary );
if( Degree&1 ) _addLeft( offset-res , boundary ) , _addRight( offset+res , boundary );
else _addLeft( -offset-1 , boundary ) , _addRight( -offset-1+2*res , boundary );
}
}
template< int Degree >
void BSplineElements< Degree >::_addLeft( int offset , int boundary )
{
int res = int( this->size() );
bool set = false;
for( int i=0 ; i<=Degree ; i++ )
{
int idx = -_off + offset + i;
if( idx>=0 && idx<res ) (*this)[idx][i] += boundary , set = true;
}
if( set ) _addLeft( offset-2*res , boundary );
}
template< int Degree >
void BSplineElements< Degree >::_addRight( int offset , int boundary )
{
int res = int( this->size() );
bool set = false;
for( int i=0 ; i<=Degree ; i++ )
{
int idx = -_off + offset + i;
if( idx>=0 && idx<res ) (*this)[idx][i] += boundary , set = true;
}
if( set ) _addRight( offset+2*res , boundary );
}
template< int Degree >
void BSplineElements< Degree >::upSample( BSplineElements< Degree >&) const
{
POISSON_THROW_EXCEPTION (pcl::poisson::PoissonBadArgumentException, "B-spline up-sampling not supported for degree " << Degree);
}
template<>
void PCL_EXPORTS BSplineElements< 1 >::upSample( BSplineElements< 1 >& high ) const;
template<>
void PCL_EXPORTS BSplineElements< 2 >::upSample( BSplineElements< 2 >& high ) const;
template< int Degree >
void BSplineElements< Degree >::differentiate( BSplineElements< Degree-1 >& d ) const
{
d.resize( this->size() );
d.assign( d.size() , BSplineElementCoefficients< Degree-1 >() );
for( int i=0 ; i<int(this->size()) ; i++ ) for( int j=0 ; j<=Degree ; j++ )
{
if( j-1>=0 ) d[i][j-1] -= (*this)[i][j];
if( j<Degree ) d[i][j ] += (*this)[i][j];
}
d.denominator = denominator;
}
// If we were really good, we would implement this integral table to store
// rational values to improve precision...
template< int Degree1 , int Degree2 >
void SetBSplineElementIntegrals( double integrals[Degree1+1][Degree2+1] )
{
for( int i=0 ; i<=Degree1 ; i++ )
{
Polynomial< Degree1 > p1 = Polynomial< Degree1 >::BSplineComponent( i );
for( int j=0 ; j<=Degree2 ; j++ )
{
Polynomial< Degree2 > p2 = Polynomial< Degree2 >::BSplineComponent( j );
integrals[i][j] = ( p1 * p2 ).integral( 0 , 1 );
}
}
}
}
}
pcl::poisson::BSplineData::~BSplineData
virtual ~BSplineData()
Definition bspline_data.hpp:94
pcl::poisson::BSplineData::set
void set(int maxDepth, bool useDotRatios=true, bool reflectBoundary=false)
Definition bspline_data.hpp:116
pcl::poisson::BSplineData::SymmetricIndex
static int SymmetricIndex(int i1, int i2)
Definition bspline_data.hpp:381
pcl::poisson::BSplineData::setValueTables
virtual void setValueTables(int flags, double smooth=0)
Definition bspline_data.hpp:322
pcl::poisson::BSplineData::clearDotTables
virtual void clearDotTables(int flags)
Definition bspline_data.hpp:290
pcl::poisson::BSplineData::clearValueTables
virtual void clearValueTables()
Definition bspline_data.hpp:372
pcl::poisson::BSplineData::setDotTables
virtual void setDotTables(int flags)
Definition bspline_data.hpp:175
pcl::poisson::BSplineData::setSampleSpan
void setSampleSpan(int idx, int &start, int &end, double smooth=0) const
Definition bspline_data.hpp:303
pcl::poisson::BSplineData::Index
int Index(int i1, int i2) const
Definition bspline_data.hpp:379
pcl::poisson::BSplineData::BSplineData
BSplineData()
Definition bspline_data.hpp:84
pcl::poisson::BinaryNode::CenterAndWidth
static void CenterAndWidth(int depth, int offset, Real &center, Real &width)
Definition binary_node.h:53
pcl::poisson::BinaryNode::CumulativeCenterCount
static int CumulativeCenterCount(int maxDepth)
Definition binary_node.h:44
pcl::poisson::BinaryNode::CenterIndex
static int CenterIndex(int depth, int offSet)
Definition binary_node.h:47
pcl::poisson::BinaryNode::CornerCount
static int CornerCount(int depth)
Definition binary_node.h:43
pcl::poisson::BinaryNode::CenterCount
static int CenterCount(int depth)
Definition binary_node.h:42
pcl::poisson::BinaryNode::DepthAndOffset
static void DepthAndOffset(int idx, int &depth, int &offset)
Definition binary_node.h:64
pcl::poisson::PPolynomial
Definition ppolynomial.h:59
pcl::poisson::PPolynomial::BSpline
static PPolynomial BSpline(double radius=0.5)
Definition ppolynomial.hpp:391
pcl::poisson::PPolynomial::derivative
PPolynomial< Degree-1 > derivative(void) const
Definition ppolynomial.hpp:287
pcl::poisson::PPolynomial::MovingAverage
PPolynomial< Degree+1 > MovingAverage(double radius)
Definition ppolynomial.hpp:396
pcl::poisson::PoissonBadArgumentException
An exception that is thrown when the arguments number or type is wrong/unhandled.
Definition poisson_exceptions.h:116
pcl::poisson::Polynomial
Definition polynomial.h:40
pcl::poisson::Polynomial::BSplineComponent
static Polynomial BSplineComponent(int i)
Definition polynomial.hpp:310
pcl::poisson::StartingPolynomial
Definition ppolynomial.h:44
pcl::poisson::StartingPolynomial::start
double start
Definition ppolynomial.h:47
pcl::poisson::StartingPolynomial::shift
StartingPolynomial shift(double t) const
Definition ppolynomial.hpp:62
pcl::poisson::StartingPolynomial::p
Polynomial< Degree > p
Definition ppolynomial.h:46
pcl::poisson::RightOverlap
bool RightOverlap(unsigned int, int offset)
Definition bspline_data.hpp:65
pcl::poisson::LeftOverlap
bool LeftOverlap(unsigned int, int offset)
Definition bspline_data.hpp:59
pcl::poisson::Real
float Real
Definition multi_grid_octree_data.h:85
pcl::poisson::ReflectLeft
int ReflectLeft(unsigned int, int offset)
Definition bspline_data.hpp:71
pcl::poisson::SetBSplineElementIntegrals
void SetBSplineElementIntegrals(double integrals[Degree1+1][Degree2+1])
Definition bspline_data.hpp:473
pcl::poisson::ReflectRight
int ReflectRight(unsigned int depth, int offset)
Definition bspline_data.hpp:76
pcl
Definition convolution.h:46
pcl::poisson::BSplineData::BSplineComponents
Definition bspline_data.h:51
pcl::poisson::BSplineElementCoefficients
Definition bspline_data.h:104
pcl::poisson::BSplineElements
Definition bspline_data.h:112
pcl::poisson::BSplineElements::differentiate
void differentiate(BSplineElements< Degree-1 > &d) const
Definition bspline_data.hpp:459
pcl::poisson::BSplineElements::BSplineElements
BSplineElements()
Definition bspline_data.h:126
pcl::poisson::BSplineElements::_addRight
void _addRight(int offset, int boundary)
Definition bspline_data.hpp:436
pcl::poisson::BSplineElements::_addLeft
void _addLeft(int offset, int boundary)
Definition bspline_data.hpp:424
pcl::poisson::BSplineElements::denominator
int denominator
Definition bspline_data.h:124
pcl::poisson::BSplineElements::upSample
void upSample(BSplineElements &high) const
Definition bspline_data.hpp:448