Point Cloud Library (PCL) 1.13.0
marching_cubes_rbf.h
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35
36#pragma once
37
38#include <pcl/memory.h>
39#include <pcl/pcl_macros.h>
40#include <pcl/surface/marching_cubes.h>
41
42namespace pcl
43{
44 /** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on radial
45 * basis functions. Partially based on:
46 * Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
47 * "Reconstruction and representation of 3D objects with radial basis functions"
48 * SIGGRAPH '01
49 *
50 * \note This algorithm in its current implementation may not be suitable for very
51 * large point clouds, due to high memory requirements.
52 * \author Alexandru E. Ichim
53 * \ingroup surface
54 */
55 template <typename PointNT>
56 class MarchingCubesRBF : public MarchingCubes<PointNT>
57 {
58 public:
59 using Ptr = shared_ptr<MarchingCubesRBF<PointNT> >;
60 using ConstPtr = shared_ptr<const MarchingCubesRBF<PointNT> >;
61
62 using SurfaceReconstruction<PointNT>::input_;
63 using SurfaceReconstruction<PointNT>::tree_;
64 using MarchingCubes<PointNT>::grid_;
65 using MarchingCubes<PointNT>::res_x_;
66 using MarchingCubes<PointNT>::res_y_;
67 using MarchingCubes<PointNT>::res_z_;
68 using MarchingCubes<PointNT>::size_voxel_;
69 using MarchingCubes<PointNT>::upper_boundary_;
70 using MarchingCubes<PointNT>::lower_boundary_;
71
73
75 using KdTreePtr = typename KdTree::Ptr;
76
77
78 /** \brief Constructor. */
79 MarchingCubesRBF (const float off_surface_epsilon = 0.1f,
80 const float percentage_extend_grid = 0.0f,
81 const float iso_level = 0.0f) :
82 MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
83 off_surface_epsilon_ (off_surface_epsilon)
84 {
85 }
86
87 /** \brief Destructor. */
88 ~MarchingCubesRBF () override;
89
90 /** \brief Convert the point cloud into voxel data.
91 */
92 void
93 voxelizeData () override;
94
95
96 /** \brief Set the off-surface points displacement value.
97 * \param[in] epsilon the value
98 */
99 inline void
101 { off_surface_epsilon_ = epsilon; }
102
103 /** \brief Get the off-surface points displacement value. */
104 inline float
106 { return off_surface_epsilon_; }
107
108
109 protected:
110 /** \brief the Radial Basis Function kernel. */
111 double
112 kernel (Eigen::Vector3d c, Eigen::Vector3d x);
113
114 /** \brief The off-surface displacement value. */
116
117 public:
119 };
120}
121
122#ifdef PCL_NO_PRECOMPILE
123#include <pcl/surface/impl/marching_cubes_rbf.hpp>
124#endif
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:55
shared_ptr< KdTree< PointT > > Ptr
Definition: kdtree.h:68
The marching cubes surface reconstruction algorithm.
std::vector< float > grid_
The data structure storing the 3D grid.
int res_x_
The grid resolution.
Eigen::Array3f upper_boundary_
bounding box
typename KdTree::Ptr KdTreePtr
Eigen::Array3f size_voxel_
size of voxels
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
shared_ptr< MarchingCubes< PointNT > > Ptr
shared_ptr< const MarchingCubes< PointNT > > ConstPtr
Eigen::Array3f lower_boundary_
The marching cubes surface reconstruction algorithm, using a signed distance function based on radial...
float getOffSurfaceDisplacement()
Get the off-surface points displacement value.
void setOffSurfaceDisplacement(float epsilon)
Set the off-surface points displacement value.
float off_surface_epsilon_
The off-surface displacement value.
void voxelizeData() override
Convert the point cloud into voxel data.
MarchingCubesRBF(const float off_surface_epsilon=0.1f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
double kernel(Eigen::Vector3d c, Eigen::Vector3d x)
the Radial Basis Function kernel.
~MarchingCubesRBF() override
Destructor.
PointCloudConstPtr input_
The input point cloud dataset.
Definition: pcl_base.h:147
KdTreePtr tree_
A pointer to the spatial search object.
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
SurfaceReconstruction represents a base surface reconstruction class.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.