Point Cloud Library (PCL) 1.14.0
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marching_cubes_hoppe.h
1/*
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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 the distance
45 * from tangent planes, proposed by Hoppe et. al. in:
46 * Hoppe H., DeRose T., Duchamp T., MC-Donald J., Stuetzle W., "Surface reconstruction from unorganized points",
47 * SIGGRAPH '92
48 * \tparam PointNT Use `pcl::PointNormal` or `pcl::PointXYZRGBNormal` or `pcl::PointXYZINormal`
49 * \author Alexandru E. Ichim
50 * \ingroup surface
51 */
52 template <typename PointNT>
53 class MarchingCubesHoppe : public MarchingCubes<PointNT>
54 {
55 public:
56 using Ptr = shared_ptr<MarchingCubesHoppe<PointNT> >;
57 using ConstPtr = shared_ptr<const MarchingCubesHoppe<PointNT> >;
58
59 using SurfaceReconstruction<PointNT>::input_;
60 using SurfaceReconstruction<PointNT>::tree_;
61 using MarchingCubes<PointNT>::grid_;
62 using MarchingCubes<PointNT>::res_x_;
63 using MarchingCubes<PointNT>::res_y_;
64 using MarchingCubes<PointNT>::res_z_;
65 using MarchingCubes<PointNT>::size_voxel_;
66 using MarchingCubes<PointNT>::upper_boundary_;
67 using MarchingCubes<PointNT>::lower_boundary_;
68
70
72 using KdTreePtr = typename KdTree::Ptr;
73
74
75 /** \brief Constructor. */
76 MarchingCubesHoppe (const float dist_ignore = -1.0f,
77 const float percentage_extend_grid = 0.0f,
78 const float iso_level = 0.0f) :
79 MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
80 dist_ignore_ (dist_ignore)
81 {
82 }
83
84 /** \brief Destructor. */
86
87 /** \brief Convert the point cloud into voxel data.
88 */
89 void
90 voxelizeData () override;
91
92 /** \brief Method that sets the distance for ignoring voxels which are far from point cloud.
93 * If the distance is negative, then the distance functions would be calculated in all voxels;
94 * otherwise, only voxels with distance lower than dist_ignore would be involved in marching cube.
95 * \param[in] dist_ignore threshold of distance. Default value is -1.0. Set to negative if all voxels are
96 * to be involved.
97 */
98 inline void
99 setDistanceIgnore (const float dist_ignore)
100 { dist_ignore_ = dist_ignore; }
101
102 /** \brief get the distance for ignoring voxels which are far from point cloud.
103 * */
104 inline float
106 { return dist_ignore_; }
107
108 protected:
109 /** \brief ignore the distance function
110 * if it is negative
111 * or distance between voxel centroid and point are larger that it. */
113
114 public:
116 };
117}
118
119#ifdef PCL_NO_PRECOMPILE
120#include <pcl/surface/impl/marching_cubes_hoppe.hpp>
121#endif
KdTree represents the base spatial locator class for kd-tree implementations.
Definition kdtree.h:56
shared_ptr< KdTree< PointT > > Ptr
Definition kdtree.h:69
The marching cubes surface reconstruction algorithm, using a signed distance function based on the di...
typename KdTree::Ptr KdTreePtr
shared_ptr< MarchingCubesHoppe< PointNT > > Ptr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
float getDistanceIgnore() const
get the distance for ignoring voxels which are far from point cloud.
~MarchingCubesHoppe() override
Destructor.
shared_ptr< const MarchingCubesHoppe< PointNT > > ConstPtr
MarchingCubesHoppe(const float dist_ignore=-1.0f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
void voxelizeData() override
Convert the point cloud into voxel data.
pcl::KdTree< PointNT > KdTree
float dist_ignore_
ignore the distance function if it is negative or distance between voxel centroid and point are large...
void setDistanceIgnore(const float dist_ignore)
Method that sets the distance for ignoring voxels which are far from point cloud.
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
Eigen::Array3f size_voxel_
size of voxels
Eigen::Array3f lower_boundary_
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
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.