Point Cloud Library (PCL) 1.13.1
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marching_cubes_rbf.h
1/*
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35
36#pragma once
37
38#include <pcl/memory.h>
39#include <pcl/pcl_macros.h>
40#include <pcl/surface/marching_cubes.h>
41
42namespace pcl
43{
44 /** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on radial
45 * basis functions. Partially based on:
46 * Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
47 * "Reconstruction and representation of 3D objects with radial basis functions"
48 * SIGGRAPH '01
49 *
50 * \note This algorithm in its current implementation may not be suitable for very
51 * large point clouds, due to high memory requirements.
52 * \tparam PointNT Use `pcl::PointNormal` or `pcl::PointXYZRGBNormal` or `pcl::PointXYZINormal`
53 * \author Alexandru E. Ichim
54 * \ingroup surface
55 */
56 template <typename PointNT>
57 class MarchingCubesRBF : public MarchingCubes<PointNT>
58 {
59 public:
60 using Ptr = shared_ptr<MarchingCubesRBF<PointNT> >;
61 using ConstPtr = shared_ptr<const MarchingCubesRBF<PointNT> >;
62
63 using SurfaceReconstruction<PointNT>::input_;
64 using SurfaceReconstruction<PointNT>::tree_;
65 using MarchingCubes<PointNT>::grid_;
66 using MarchingCubes<PointNT>::res_x_;
67 using MarchingCubes<PointNT>::res_y_;
68 using MarchingCubes<PointNT>::res_z_;
69 using MarchingCubes<PointNT>::size_voxel_;
70 using MarchingCubes<PointNT>::upper_boundary_;
71 using MarchingCubes<PointNT>::lower_boundary_;
72
74
76 using KdTreePtr = typename KdTree::Ptr;
77
78
79 /** \brief Constructor. */
80 MarchingCubesRBF (const float off_surface_epsilon = 0.1f,
81 const float percentage_extend_grid = 0.0f,
82 const float iso_level = 0.0f) :
83 MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
84 off_surface_epsilon_ (off_surface_epsilon)
85 {
86 }
87
88 /** \brief Destructor. */
89 ~MarchingCubesRBF () override;
90
91 /** \brief Convert the point cloud into voxel data.
92 */
93 void
94 voxelizeData () override;
95
96
97 /** \brief Set the off-surface points displacement value.
98 * \param[in] epsilon the value
99 */
100 inline void
102 { off_surface_epsilon_ = epsilon; }
103
104 /** \brief Get the off-surface points displacement value. */
105 inline float
108
109
110 protected:
111 /** \brief the Radial Basis Function kernel. */
112 double
113 kernel (Eigen::Vector3d c, Eigen::Vector3d x);
114
115 /** \brief The off-surface displacement value. */
117
118 public:
120 };
121}
122
123#ifdef PCL_NO_PRECOMPILE
124#include <pcl/surface/impl/marching_cubes_rbf.hpp>
125#endif
KdTree represents the base spatial locator class for kd-tree implementations.
Definition kdtree.h:55
shared_ptr< KdTree< PointT > > Ptr
Definition kdtree.h:68
The marching cubes surface reconstruction algorithm.
std::vector< float > grid_
The data structure storing the 3D grid.
int res_x_
The grid resolution.
Eigen::Array3f upper_boundary_
bounding box
Eigen::Array3f size_voxel_
size of voxels
Eigen::Array3f lower_boundary_
The marching cubes surface reconstruction algorithm, using a signed distance function based on radial...
float getOffSurfaceDisplacement()
Get the off-surface points displacement value.
pcl::KdTree< PointNT > KdTree
void setOffSurfaceDisplacement(float epsilon)
Set the off-surface points displacement value.
float off_surface_epsilon_
The off-surface displacement value.
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
void voxelizeData() override
Convert the point cloud into voxel data.
MarchingCubesRBF(const float off_surface_epsilon=0.1f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
typename KdTree::Ptr KdTreePtr
shared_ptr< MarchingCubesRBF< PointNT > > Ptr
~MarchingCubesRBF() override
Destructor.
shared_ptr< const MarchingCubesRBF< PointNT > > ConstPtr
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
KdTreePtr tree_
A pointer to the spatial search object.
shared_ptr< PointCloud< PointT > > Ptr
SurfaceReconstruction represents a base surface reconstruction class.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.