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marching_cubes.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Willow Garage, Inc.
*
* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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* * 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
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* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
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*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#pragma once
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/gpu/containers/device_array.h>
#include <Eigen/Core>
//#include <boost/graph/buffer_concepts.hpp>
namespace pcl
{
namespace gpu
{
namespace kinfuLS
{
class TsdfVolume;
/** \brief MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU
* \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
class PCL_EXPORTS MarchingCubes
{
public:
/** \brief Default size for triangles buffer */
enum
{
POINTS_PER_TRIANGLE = 3,
DEFAULT_TRIANGLES_BUFFER_SIZE = 2 * 1000 * 1000 * POINTS_PER_TRIANGLE * 2
};
/** \brief Point type. */
using PointType = pcl::PointXYZ;
/** \brief Smart pointer. */
using Ptr = shared_ptr<MarchingCubes>;
using ConstPtr = shared_ptr<const MarchingCubes>;
/** \brief Default constructor */
MarchingCubes();
/** \brief Runs marching cubes triangulation.
* \param[in] tsdf
* \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size will be used.
* \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
*/
DeviceArray<PointType>
run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
private:
/** \brief Edge table for marching cubes */
DeviceArray<int> edgeTable_;
/** \brief Number of vertices table for marching cubes */
DeviceArray<int> numVertsTable_;
/** \brief Triangles table for marching cubes */
DeviceArray<int> triTable_;
/** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
DeviceArray2D<int> occupied_voxels_buffer_;
};
}
}
}
pcl::gpu::DeviceArray2D
DeviceArray2D class
Definition device_array.h:188
pcl::gpu::DeviceArray
DeviceArray class
Definition device_array.h:54
pcl::gpu::kinfuLS::MarchingCubes
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU.
Definition marching_cubes.h:59
pcl::gpu::kinfuLS::MarchingCubes::Ptr
shared_ptr< MarchingCubes > Ptr
Smart pointer.
Definition marching_cubes.h:73
pcl::gpu::kinfuLS::MarchingCubes::run
DeviceArray< PointType > run(const TsdfVolume &tsdf, DeviceArray< PointType > &triangles_buffer)
Runs marching cubes triangulation.
pcl::gpu::kinfuLS::MarchingCubes::MarchingCubes
MarchingCubes()
Default constructor.
pcl::gpu::kinfuLS::MarchingCubes::ConstPtr
shared_ptr< const MarchingCubes > ConstPtr
Definition marching_cubes.h:74
pcl::gpu::kinfuLS::TsdfVolume
TsdfVolume class.
Definition tsdf_volume.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.
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition point_types.hpp:322