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>
#include <pcl/common/common.h>
#include <pcl/common/vector_average.h>
#include <pcl/Vertices.h>
#include <pcl/kdtree/kdtree_flann.h>
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointNT>
pcl::MarchingCubesHoppe<PointNT>::MarchingCubesHoppe ()
: MarchingCubes<PointNT> ()
{
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointNT>
pcl::MarchingCubesHoppe<PointNT>::~MarchingCubesHoppe ()
{
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointNT> void
pcl::MarchingCubesHoppe<PointNT>::voxelizeData ()
{
for (int x = 0; x < res_x_; ++x)
for (int y = 0; y < res_y_; ++y)
for (int z = 0; z < res_z_; ++z)
{
std::vector<int> nn_indices;
std::vector<float> nn_sqr_dists;
Eigen::Vector3f point;
point[0] = min_p_[0] + (max_p_[0] - min_p_[0]) * float (x) / float (res_x_);
point[1] = min_p_[1] + (max_p_[1] - min_p_[1]) * float (y) / float (res_y_);
point[2] = min_p_[2] + (max_p_[2] - min_p_[2]) * float (z) / float (res_z_);
PointNT p;
p.getVector3fMap () = point;
tree_->nearestKSearch (p, 1, nn_indices, nn_sqr_dists);
grid_[x * res_y_*res_z_ + y * res_z_ + z] = input_->points[nn_indices[0]].getNormalVector3fMap ().dot (
point - input_->points[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::MarchingCubes
The marching cubes surface reconstruction algorithm.
Definition: marching_cubes.h:363
pcl::MarchingCubes::res_y_
int res_y_
Definition: marching_cubes.h:438
pcl::MarchingCubesHoppe::MarchingCubesHoppe
MarchingCubesHoppe()
Constructor.
Definition: marching_cubes_hoppe.hpp:47
pcl::MarchingCubes::min_p_
Eigen::Vector4f min_p_
Min and max data points.
Definition: marching_cubes.h:441
pcl::MarchingCubesHoppe::voxelizeData
void voxelizeData()
Convert the point cloud into voxel data.
Definition: marching_cubes_hoppe.hpp:61
pcl::MarchingCubes::max_p_
Eigen::Vector4f max_p_
Definition: marching_cubes.h:441
pcl::MarchingCubesHoppe::~MarchingCubesHoppe
~MarchingCubesHoppe()
Destructor.
Definition: marching_cubes_hoppe.hpp:54
pcl::MarchingCubes::res_x_
int res_x_
The grid resolution.
Definition: marching_cubes.h:438
pcl::MarchingCubes::res_z_
int res_z_
Definition: marching_cubes.h:438
pcl::MarchingCubes::grid_
std::vector< float > grid_
The data structure storing the 3D grid.
Definition: marching_cubes.h:435
pcl::PCLBase< PointNT >::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition: pcl_base.h:150
pcl::PCLSurfaceBase< PointNT >::tree_
KdTreePtr tree_
A pointer to the spatial search object.
Definition: reconstruction.h:98