Point Cloud Library (PCL) 1.12.0
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marching_cubes_hoppe.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 the distance
45 * from tangent planes, proposed by Hoppe et. al. in:
46 * Hoppe H., DeRose T., Duchamp T., MC-Donald J., Stuetzle W., "Surface reconstruction from unorganized points",
47 * SIGGRAPH '92
48 * \author Alexandru E. Ichim
49 * \ingroup surface
50 */
51 template <typename PointNT>
52 class MarchingCubesHoppe : public MarchingCubes<PointNT>
53 {
54 public:
57
67
69
71 using KdTreePtr = typename KdTree::Ptr;
72
73
74 /** \brief Constructor. */
75 MarchingCubesHoppe (const float dist_ignore = -1.0f,
76 const float percentage_extend_grid = 0.0f,
77 const float iso_level = 0.0f) :
80 {
81 }
82
83 /** \brief Destructor. */
85
86 /** \brief Convert the point cloud into voxel data.
87 */
88 void
89 voxelizeData () override;
90
91 /** \brief Method that sets the distance for ignoring voxels which are far from point cloud.
92 * If the distance is negative, then the distance functions would be calculated in all voxels;
93 * otherwise, only voxels with distance lower than dist_ignore would be involved in marching cube.
94 * \param[in] dist_ignore threshold of distance. Default value is -1.0. Set to negative if all voxels are
95 * to be involved.
96 */
97 inline void
100
101 /** \brief get the distance for ignoring voxels which are far from point cloud.
102 * */
103 inline float
105 { return dist_ignore_; }
106
107 protected:
108 /** \brief ignore the distance function
109 * if it is negative
110 * or distance between voxel centroid and point are larger that it. */
112
113 public:
115 };
116}
117
118#ifdef PCL_NO_PRECOMPILE
119#include <pcl/surface/impl/marching_cubes_hoppe.hpp>
120#endif
Iterator class for point clouds with or without given indices.
shared_ptr< KdTree< PointT > > Ptr
Definition kdtree.h:68
The marching cubes surface reconstruction algorithm, using a signed distance function based on the di...
typename KdTree::Ptr KdTreePtr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
float getDistanceIgnore() const
get the distance for ignoring voxels which are far from point cloud.
MarchingCubesHoppe(const float dist_ignore=-1.0f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
void voxelizeData() override
Convert the point cloud into voxel data.
float dist_ignore_
ignore the distance function if it is negative or distance between voxel centroid and point are large...
void setDistanceIgnore(const float dist_ignore)
Method that sets the distance for ignoring voxels which are far from point cloud.
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_
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.