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marching_cubes_hoppe.h
/*
* Software License Agreement (BSD License)
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* Copyright (c) 2010, Willow Garage, Inc.
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#pragma once
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/surface/marching_cubes.h>
namespace pcl
{
/** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on the distance
* from tangent planes, proposed by Hoppe et. al. in:
* Hoppe H., DeRose T., Duchamp T., MC-Donald J., Stuetzle W., "Surface reconstruction from unorganized points",
* SIGGRAPH '92
* \tparam PointNT Use `pcl::PointNormal` or `pcl::PointXYZRGBNormal` or `pcl::PointXYZINormal`
* \author Alexandru E. Ichim
* \ingroup surface
*/
template <typename PointNT>
class MarchingCubesHoppe : public MarchingCubes<PointNT>
{
public:
using Ptr = shared_ptr<MarchingCubesHoppe<PointNT> >;
using ConstPtr = shared_ptr<const MarchingCubesHoppe<PointNT> >;
using SurfaceReconstruction<PointNT>::input_;
using SurfaceReconstruction<PointNT>::tree_;
using MarchingCubes<PointNT>::grid_;
using MarchingCubes<PointNT>::res_x_;
using MarchingCubes<PointNT>::res_y_;
using MarchingCubes<PointNT>::res_z_;
using MarchingCubes<PointNT>::size_voxel_;
using MarchingCubes<PointNT>::upper_boundary_;
using MarchingCubes<PointNT>::lower_boundary_;
using PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr;
using KdTree = pcl::KdTree<PointNT>;
using KdTreePtr = typename KdTree::Ptr;
/** \brief Constructor. */
MarchingCubesHoppe (const float dist_ignore = -1.0f,
const float percentage_extend_grid = 0.0f,
const float iso_level = 0.0f) :
MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
dist_ignore_ (dist_ignore)
{
}
/** \brief Destructor. */
~MarchingCubesHoppe () override;
/** \brief Convert the point cloud into voxel data.
*/
void
voxelizeData () override;
/** \brief Method that sets the distance for ignoring voxels which are far from point cloud.
* If the distance is negative, then the distance functions would be calculated in all voxels;
* otherwise, only voxels with distance lower than dist_ignore would be involved in marching cube.
* \param[in] dist_ignore threshold of distance. Default value is -1.0. Set to negative if all voxels are
* to be involved.
*/
inline void
setDistanceIgnore (const float dist_ignore)
{ dist_ignore_ = dist_ignore; }
/** \brief get the distance for ignoring voxels which are far from point cloud.
* */
inline float
getDistanceIgnore () const
{ return dist_ignore_; }
protected:
/** \brief ignore the distance function
* if it is negative
* or distance between voxel centroid and point are larger that it. */
float dist_ignore_;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/surface/impl/marching_cubes_hoppe.hpp>
#endif
pcl::KdTree
KdTree represents the base spatial locator class for kd-tree implementations.
Definition kdtree.h:56
pcl::KdTree::Ptr
shared_ptr< KdTree< PointT > > Ptr
Definition kdtree.h:69
pcl::MarchingCubesHoppe
The marching cubes surface reconstruction algorithm, using a signed distance function based on the di...
Definition marching_cubes_hoppe.h:54
pcl::MarchingCubesHoppe::KdTreePtr
typename KdTree::Ptr KdTreePtr
Definition marching_cubes_hoppe.h:72
pcl::MarchingCubesHoppe::Ptr
shared_ptr< MarchingCubesHoppe< PointNT > > Ptr
Definition marching_cubes_hoppe.h:56
pcl::MarchingCubesHoppe::PointCloudPtr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
Definition marching_cubes_hoppe.h:69
pcl::MarchingCubesHoppe::getDistanceIgnore
float getDistanceIgnore() const
get the distance for ignoring voxels which are far from point cloud.
Definition marching_cubes_hoppe.h:105
pcl::MarchingCubesHoppe::~MarchingCubesHoppe
~MarchingCubesHoppe() override
Destructor.
pcl::MarchingCubesHoppe::ConstPtr
shared_ptr< const MarchingCubesHoppe< PointNT > > ConstPtr
Definition marching_cubes_hoppe.h:57
pcl::MarchingCubesHoppe::MarchingCubesHoppe
MarchingCubesHoppe(const float dist_ignore=-1.0f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
Definition marching_cubes_hoppe.h:76
pcl::MarchingCubesHoppe::voxelizeData
void voxelizeData() override
Convert the point cloud into voxel data.
Definition marching_cubes_hoppe.hpp:48
pcl::MarchingCubesHoppe::KdTree
pcl::KdTree< PointNT > KdTree
Definition marching_cubes_hoppe.h:71
pcl::MarchingCubesHoppe::dist_ignore_
float dist_ignore_
ignore the distance function if it is negative or distance between voxel centroid and point are large...
Definition marching_cubes_hoppe.h:112
pcl::MarchingCubesHoppe::setDistanceIgnore
void setDistanceIgnore(const float dist_ignore)
Method that sets the distance for ignoring voxels which are far from point cloud.
Definition marching_cubes_hoppe.h:99
pcl::MarchingCubes
The marching cubes surface reconstruction algorithm.
Definition marching_cubes.h:365
pcl::MarchingCubes::grid_
std::vector< float > grid_
The data structure storing the 3D grid.
Definition marching_cubes.h:439
pcl::MarchingCubes::res_x_
int res_x_
The grid resolution.
Definition marching_cubes.h:442
pcl::MarchingCubes::upper_boundary_
Eigen::Array3f upper_boundary_
bounding box
Definition marching_cubes.h:445
pcl::MarchingCubes::size_voxel_
Eigen::Array3f size_voxel_
size of voxels
Definition marching_cubes.h:449
pcl::MarchingCubes::res_y_
int res_y_
Definition marching_cubes.h:442
pcl::MarchingCubes::res_z_
int res_z_
Definition marching_cubes.h:442
pcl::MarchingCubes::lower_boundary_
Eigen::Array3f lower_boundary_
Definition marching_cubes.h:446
pcl::PCLBase< PointInT >::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
pcl::PCLSurfaceBase::tree_
KdTreePtr tree_
A pointer to the spatial search object.
Definition reconstruction.h:96
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::SurfaceReconstruction
SurfaceReconstruction represents a base surface reconstruction class.
Definition reconstruction.h:118
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.