cisstMesh Directory Reference

Files
	EllipsoidOBBIntersectionSolver.h
	msh2AlgDirPDTree.h
	msh2AlgDirPDTreeCP.h
	msh2AlgDirPDTreeCPEdges.h
	msh2AlgDirPDTreeCPPointCloud.h
	msh2AlgDirPDTreevonMises.h
	msh2AlgDirPDTreevonMisesEdges.h
	msh2AlgDirPDTreevonMisesPointCloud.h
	msh2BoundingBox.h
	msh2DirPDTreeBase.h
	msh2DirPDTreeEdges.h
	msh2DirPDTreeNode.h
	msh2DirPDTreePointCloud.h
	msh2Edge.h
	msh2Edges.h
	msh2PointCloud.h
	msh2Utilities.h
	msh3AlgDirPDTree.h
	msh3AlgDirPDTreeBA.h
	msh3AlgDirPDTreeBAMesh.h
	msh3AlgDirPDTreeBAPointCloud.h
	msh3AlgDirPDTreevonMisesProj.h
	msh3AlgDirPDTreevonMisesProjMesh.h
	msh3AlgPDTree.h
	msh3AlgPDTreeCP.h
	msh3AlgPDTreeCPMesh.h
	msh3AlgPDTreeCPPointCloud.h
	msh3AlgPDTreeMLP.h
	msh3AlgPDTreeMLPMesh.h
	msh3AlgPDTreeMLPPointCloud.h
	msh3BoundingBox.h
	msh3DirPDTreeBase.h
	msh3DirPDTreeMesh.h
	msh3DirPDTreeNode.h
	msh3DirPDTreePointCloud.h
	msh3Mesh.h
	msh3PDTreeBase.h
	msh3PDTreeMesh.h
	msh3PDTreeNode.h
	msh3PDTreePointCloud.h
	msh3PointCloud.h
	msh3Utilities.h
	mshExport.h
	Macros to export the symbols of cisstMesh (in a Dll).
	mshForwardDeclarations.h
	Forward declarations and #define for cisstMesh.
	mshPython.h
	Header files from cisstMesh required to compile the SWIG generated Python wrappers.
	PointProjectionRoutines.h
	TriangleClosestPointSolver.h

Detailed Description

Introduction

Mesh and point cloud classes for 2D and 3D datasets. This code was mostly developed by Seth Billings during his PhD (see https://jscholarship.library.jhu.edu/handle/1774.2/40219). His PhD dissertation contains a chapter related to software architecture.

Important note: the library cisstMesh only contains the mesh code (i.e. data structures and search algorithms); it doesn't contain any registration method (e.g., Iterative Closest Point ICP).

Acronyms and definitions

• msh2: prefix for all classes and global functions related to 2D meshes
• msh3: prefix for all classes and global functions related to 3D meshes
• PDTree: principal direction tree
• Alg: algorithm (search)
• Edges: in 2D, list of edges or contour (i.e., equivalent of mesh in 3D)
• Mesh: in 3D, surface mesh
• PointCloud: point cloud, either 2D or 3D
• CP: closest point
• MLP: most likely point
• BA: bounded angle
• Dir: directed
• DirPDTree: directed PD tree
• Proj: projection

Origin of the code

The code in cisstMesh comes from different public git repositories:

• https://github.com/sbillin/IMLP
• https://github.com/AyushiSinha/cisstICP

The main differences are:

• This repository only contains the mesh related code, no registration yet (one should create the cisstRegistration library for this but we need some volunteers).
• Classes and files have been renamed to match cisst naming convention. One can use the cisst/utils/crtk-port/replace-symbols.sh script to port existing code, along with the dictionary refactor.dict

Tests

To run the unit tests, make sure:

• The share folder in cisst is populated. We use a git submodule to include the shared data so you need to do git submodule init; git submodule update in the cisst repository. Alternatively, you can use the --recursive option when you initially git clone the cisst repository.
• You set your cisst environment variables properly. The test program uses CISST_ROOT to find the meshes. The script cisstvars.sh can be "sourced" to set CISST_ROOT automatically. When using ROS/catkin build tools, you can do source ~/catkin_ws/devel/cisstvars.sh

Then you can run the tests with:

cisstMeshTests -r