Mesh Generation for Shape Primitives

Functions for generating meshes for various types of shape primitives. More...

Detailed Description

Functions
pcl::PolygonMesh	noether::createPlaneMesh (const float lx=1.0, const float ly=1.0, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())
pcl::PolygonMesh	noether::createEllipsoidMesh (const float rx=1.0, const float ry=1.0, const float rz=1.5, const std::size_t resolution=20lu, const float theta_range=static_cast< float >(M_PI), const float phi_range=static_cast< float >(2.0 *M_PI), const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())
pcl::PolygonMesh	noether::createCylinderMesh (const float radius, const float length, const std::size_t resolution=20lu, std::size_t vertical_resolution=2u, const float theta_range=static_cast< float >(2.0 *M_PI), const bool include_caps=true, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())
pcl::PolygonMesh	noether::createCylinderMesh (const float radius, const float length, const std::size_t resolution=20lu, const float theta_range=static_cast< float >(2.0 *M_PI), const bool include_caps=true, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())
pcl::PolygonMesh	noether::createCylinderMeshWithUniformTriangles (const float radius, const float length, const std::size_t resolution=20lu, const float theta_range=static_cast< float >(2.0 *M_PI), const bool include_caps=true, const Eigen::Isometry3d &origin=Eigen::Isometry3d::Identity())

Function Documentation

createPlaneMesh()

pcl::PolygonMesh noether::createPlaneMesh	(	const float	lx = 1.0,
		const float	ly = 1.0,
		const Eigen::Isometry3d &	origin = Eigen::Isometry3d::Identity()
	)

Creates a mesh of an x-y plane (z-axis is normal) with a specified length and width. The plane is comprised of 4 vertices and two triangles per the diagram below:

0 — 3
| A / |
| / B |
1 — 2

Parameters

lx	Length (m) along the x direction
ly	Length (m) along the y direction
origin	Transform to the desired origin of the primitive

createEllipsoidMesh()

pcl::PolygonMesh noether::createEllipsoidMesh	(	const float	rx = 1.0,
		const float	ry = 1.0,
		const float	rz = 1.5,
		const std::size_t	resolution = 20lu,
		const float	theta_range = static_cast<float>(M_PI),
		const float	phi_range = static_cast<float>(2.0 * M_PI),
		const Eigen::Isometry3d &	origin = Eigen::Isometry3d::Identity()
	)

Creates a mesh of an ellipsoid

See also

The implementation is adapted from Open3D

Parameters

rx	Radius (m) along the x direction
ry	Radius (m) along the y direction
rz	Radius (m) along the z direction
resolution	Number of vertices in each "ring" of the ellipsoid
theta_range	Angle range (radians) of the ellipsoid spanning between the two poles on (0, pi]. If the value is less than pi, an ellipsoid shell is created.
phi_range	Angle range (radians) around the z-axis that passes through both poles, on (0, 2 * pi]. If the value is less than 2 * pi, an ellipsoid shell is crated.
origin	Transform to the desired origin of the primitive

Original function from Open3D under MIT license. Copyright (c) 2018-2023 www.open3d.org. Modified by Southwest Research Institute 10/2025.

createCylinderMesh() [1/2]

pcl::PolygonMesh noether::createCylinderMesh	(	const float	radius,
		const float	length,
		const std::size_t	resolution = 20lu,
		std::size_t	vertical_resolution = 2u,
		const float	theta_range = static_cast<float>(2.0 * M_PI),
		const bool	include_caps = true,
		const Eigen::Isometry3d &	origin = Eigen::Isometry3d::Identity()
	)

Creates a mesh of a cylinder with optional end caps

Parameters

radius	Radius (m) of the cylinder
length	Length (m) of the cylinder
resolution	Number of vertices around the perimeter of the cylinder
vertical_resolution	Number of "rings" of vertices down the length of the cylinder (minimum 2)
theta_range	Angle range (radians) of the cylinder, on (0, 2 * pi]. If the value is less than 2 * pi, a cylinder shell is created
include_caps	Flag to indicate whether the caps of the cylinder should be included
origin	Transform to the desired origin of the primitive

createCylinderMesh() [2/2]

pcl::PolygonMesh noether::createCylinderMesh	(	const float	radius,
		const float	length,
		const std::size_t	resolution = 20lu,
		const float	theta_range = static_cast<float>(2.0 * M_PI),
		const bool	include_caps = true,
		const Eigen::Isometry3d &	origin = Eigen::Isometry3d::Identity()
	)

Overload of createCylinderMesh that creates a mesh of a cylinder with optional end caps and a minimal number of triangles

See also

createCylinderMesh

createCylinderMeshWithUniformTriangles()

pcl::PolygonMesh noether::createCylinderMeshWithUniformTriangles	(	const float	radius,
		const float	length,
		const std::size_t	resolution = 20lu,
		const float	theta_range = static_cast<float>(2.0 * M_PI),
		const bool	include_caps = true,
		const Eigen::Isometry3d &	origin = Eigen::Isometry3d::Identity()
	)

Overload of createCylinderMesh that creates a mesh of a cylinder with optional end caps and uniform isoceles triangles

See also

createCylinderMesh