Loading...
Searching...
No Matches
marching_cubes_rbf.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#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 radial
* basis functions. Partially based on:
* Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
* "Reconstruction and representation of 3D objects with radial basis functions"
* SIGGRAPH '01
*
* \note This algorithm in its current implementation may not be suitable for very
* large point clouds, due to high memory requirements.
* \tparam PointNT Use `pcl::PointNormal` or `pcl::PointXYZRGBNormal` or `pcl::PointXYZINormal`
* \author Alexandru E. Ichim
* \ingroup surface
*/
template <typename PointNT>
class MarchingCubesRBF : public MarchingCubes<PointNT>
{
public:
using Ptr = shared_ptr<MarchingCubesRBF<PointNT> >;
using ConstPtr = shared_ptr<const MarchingCubesRBF<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. */
MarchingCubesRBF (const float off_surface_epsilon = 0.1f,
const float percentage_extend_grid = 0.0f,
const float iso_level = 0.0f) :
MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
off_surface_epsilon_ (off_surface_epsilon)
{
}
/** \brief Destructor. */
~MarchingCubesRBF () override;
/** \brief Convert the point cloud into voxel data.
*/
void
voxelizeData () override;
/** \brief Set the off-surface points displacement value.
* \param[in] epsilon the value
*/
inline void
setOffSurfaceDisplacement (float epsilon)
{ off_surface_epsilon_ = epsilon; }
/** \brief Get the off-surface points displacement value. */
inline float
getOffSurfaceDisplacement ()
{ return off_surface_epsilon_; }
protected:
/** \brief the Radial Basis Function kernel. */
double
kernel (Eigen::Vector3d c, Eigen::Vector3d x);
/** \brief The off-surface displacement value. */
float off_surface_epsilon_;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/surface/impl/marching_cubes_rbf.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::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::MarchingCubesRBF
The marching cubes surface reconstruction algorithm, using a signed distance function based on radial...
Definition marching_cubes_rbf.h:58
pcl::MarchingCubesRBF::getOffSurfaceDisplacement
float getOffSurfaceDisplacement()
Get the off-surface points displacement value.
Definition marching_cubes_rbf.h:106
pcl::MarchingCubesRBF::KdTree
pcl::KdTree< PointNT > KdTree
Definition marching_cubes_rbf.h:75
pcl::MarchingCubesRBF::setOffSurfaceDisplacement
void setOffSurfaceDisplacement(float epsilon)
Set the off-surface points displacement value.
Definition marching_cubes_rbf.h:101
pcl::MarchingCubesRBF::off_surface_epsilon_
float off_surface_epsilon_
The off-surface displacement value.
Definition marching_cubes_rbf.h:116
pcl::MarchingCubesRBF::PointCloudPtr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
Definition marching_cubes_rbf.h:73
pcl::MarchingCubesRBF::voxelizeData
void voxelizeData() override
Convert the point cloud into voxel data.
Definition marching_cubes_rbf.hpp:50
pcl::MarchingCubesRBF::MarchingCubesRBF
MarchingCubesRBF(const float off_surface_epsilon=0.1f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
Definition marching_cubes_rbf.h:80
pcl::MarchingCubesRBF::KdTreePtr
typename KdTree::Ptr KdTreePtr
Definition marching_cubes_rbf.h:76
pcl::MarchingCubesRBF::Ptr
shared_ptr< MarchingCubesRBF< PointNT > > Ptr
Definition marching_cubes_rbf.h:60
pcl::MarchingCubesRBF::~MarchingCubesRBF
~MarchingCubesRBF() override
Destructor.
pcl::MarchingCubesRBF::ConstPtr
shared_ptr< const MarchingCubesRBF< PointNT > > ConstPtr
Definition marching_cubes_rbf.h:61
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::kernel
Definition kernel.h:46
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:86
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.