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marching_cubes_hoppe.hpp
/*
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#ifndef PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
#define PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
#include <pcl/surface/marching_cubes_hoppe.h>
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointNT>
pcl::MarchingCubesHoppe<PointNT>::~MarchingCubesHoppe () = default;
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointNT> void
pcl::MarchingCubesHoppe<PointNT>::voxelizeData ()
{
const bool is_far_ignored = dist_ignore_ > 0.0f;
for (int x = 0; x < res_x_; ++x)
{
const int y_start = x * res_y_ * res_z_;
for (int y = 0; y < res_y_; ++y)
{
const int z_start = y_start + y * res_z_;
for (int z = 0; z < res_z_; ++z)
{
pcl::Indices nn_indices (1, 0);
std::vector<float> nn_sqr_dists (1, 0.0f);
const Eigen::Vector3f point = (lower_boundary_ + size_voxel_ * Eigen::Array3f (x, y, z)).matrix ();
PointNT p;
p.getVector3fMap () = point;
tree_->nearestKSearch (p, 1, nn_indices, nn_sqr_dists);
if (!is_far_ignored || nn_sqr_dists[0] < dist_ignore_)
{
const Eigen::Vector3f normal = (*input_)[nn_indices[0]].getNormalVector3fMap ();
if (!std::isnan (normal (0)) && normal.norm () > 0.5f)
grid_[z_start + z] = normal.dot (
point - (*input_)[nn_indices[0]].getVector3fMap ());
}
}
}
}
}
#define PCL_INSTANTIATE_MarchingCubesHoppe(T) template class PCL_EXPORTS pcl::MarchingCubesHoppe<T>;
#endif // PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
pcl::MarchingCubesHoppe::~MarchingCubesHoppe
~MarchingCubesHoppe() override
Destructor.
pcl::MarchingCubesHoppe::voxelizeData
void voxelizeData() override
Convert the point cloud into voxel data.
Definition marching_cubes_hoppe.hpp:48
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::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::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< PointNT >::input_
PointCloudConstPtr input_
Definition pcl_base.h:147
pcl::PCLSurfaceBase< PointNT >::tree_
KdTreePtr tree_
Definition reconstruction.h:96
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133