Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::MarchingCubes< PointNT > Class Template Referenceabstract

The marching cubes surface reconstruction algorithm. More...

#include <pcl/surface/marching_cubes.h>

+ Inheritance diagram for pcl::MarchingCubes< PointNT >:

Public Types

typedef boost::shared_ptr
< MarchingCubes< PointNT > > 
Ptr
 
typedef boost::shared_ptr
< const MarchingCubes< PointNT > > 
ConstPtr
 
typedef pcl::PointCloud
< PointNT >::Ptr 
PointCloudPtr
 
typedef pcl::KdTree< PointNT > KdTree
 
typedef pcl::KdTree< PointNT >::Ptr KdTreePtr
 
- Public Types inherited from pcl::SurfaceReconstruction< PointNT >
typedef boost::shared_ptr
< SurfaceReconstruction
< PointNT > > 
Ptr
 
typedef boost::shared_ptr
< const SurfaceReconstruction
< PointNT > > 
ConstPtr
 
- Public Types inherited from pcl::PCLSurfaceBase< PointNT >
typedef boost::shared_ptr
< PCLSurfaceBase< PointNT > > 
Ptr
 
typedef boost::shared_ptr
< const PCLSurfaceBase
< PointNT > > 
ConstPtr
 
typedef pcl::search::Search
< PointNT > 
KdTree
 
typedef pcl::search::Search
< PointNT >::Ptr 
KdTreePtr
 
- Public Types inherited from pcl::PCLBase< PointNT >
typedef pcl::PointCloud< PointNT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 MarchingCubes (const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
 Constructor. More...
 
virtual ~MarchingCubes ()
 Destructor. More...
 
void setIsoLevel (float iso_level)
 Method that sets the iso level of the surface to be extracted. More...
 
float getIsoLevel ()
 Method that returns the iso level of the surface to be extracted. More...
 
void setGridResolution (int res_x, int res_y, int res_z)
 Method that sets the marching cubes grid resolution. More...
 
void getGridResolution (int &res_x, int &res_y, int &res_z)
 Method to get the marching cubes grid resolution. More...
 
void setPercentageExtendGrid (float percentage)
 Method that sets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits. More...
 
float getPercentageExtendGrid ()
 Method that gets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box. More...
 
- Public Member Functions inherited from pcl::SurfaceReconstruction< PointNT >
 SurfaceReconstruction ()
 Constructor. More...
 
virtual ~SurfaceReconstruction ()
 Destructor. More...
 
virtual void reconstruct (pcl::PolygonMesh &output)
 Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
 
virtual void reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
 Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
 
- Public Member Functions inherited from pcl::PCLSurfaceBase< PointNT >
 PCLSurfaceBase ()
 Empty constructor. More...
 
virtual ~PCLSurfaceBase ()
 Empty destructor. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide an optional pointer to a search object. More...
 
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointNT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointNT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual void voxelizeData ()=0
 Convert the point cloud into voxel data. More...
 
void interpolateEdge (Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output)
 Interpolate along the voxel edge. More...
 
void createSurface (const std::vector< float > &leaf_node, const Eigen::Vector3i &index_3d, pcl::PointCloud< PointNT > &cloud)
 Calculate out the corresponding polygons in the leaf node. More...
 
void getBoundingBox ()
 Get the bounding box for the input data points. More...
 
virtual float getGridValue (Eigen::Vector3i pos)
 Method that returns the scalar value at the given grid position. More...
 
void getNeighborList1D (std::vector< float > &leaf, Eigen::Vector3i &index3d)
 Method that returns the scalar values of the neighbors of a given 3D position in the grid. More...
 
std::string getClassName () const
 Class get name method. More...
 
virtual void performReconstruction (pcl::PolygonMesh &output)
 Extract the surface. More...
 
virtual void performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
 Extract the surface. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointNT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

std::vector< float > grid_
 The data structure storing the 3D grid. More...
 
int res_x_
 The grid resolution. More...
 
int res_y_
 
int res_z_
 
Eigen::Array3f upper_boundary_
 bounding box More...
 
Eigen::Array3f lower_boundary_
 
Eigen::Array3f size_voxel_
 size of voxels More...
 
float percentage_extend_grid_
 Parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box. More...
 
float iso_level_
 The iso level to be extracted. More...
 
- Protected Attributes inherited from pcl::SurfaceReconstruction< PointNT >
bool check_tree_
 A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More...
 
- Protected Attributes inherited from pcl::PCLSurfaceBase< PointNT >
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointNT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

template<typename PointNT>
class pcl::MarchingCubes< PointNT >

The marching cubes surface reconstruction algorithm.

This is an abstract class that takes a grid and extracts the isosurface as a mesh, based on the original marching cubes paper:

Lorensen W.E., Cline H.E., "Marching cubes: A high resolution 3d surface construction algorithm", SIGGRAPH '87

Author
Alexandru E. Ichim

Definition at line 363 of file marching_cubes.h.

Member Typedef Documentation

template<typename PointNT >
typedef boost::shared_ptr<const MarchingCubes<PointNT> > pcl::MarchingCubes< PointNT >::ConstPtr

Definition at line 367 of file marching_cubes.h.

template<typename PointNT >
typedef pcl::KdTree<PointNT> pcl::MarchingCubes< PointNT >::KdTree

Definition at line 374 of file marching_cubes.h.

template<typename PointNT >
typedef pcl::KdTree<PointNT>::Ptr pcl::MarchingCubes< PointNT >::KdTreePtr

Definition at line 375 of file marching_cubes.h.

template<typename PointNT >
typedef pcl::PointCloud<PointNT>::Ptr pcl::MarchingCubes< PointNT >::PointCloudPtr

Definition at line 372 of file marching_cubes.h.

template<typename PointNT >
typedef boost::shared_ptr<MarchingCubes<PointNT> > pcl::MarchingCubes< PointNT >::Ptr

Definition at line 366 of file marching_cubes.h.

Constructor & Destructor Documentation

template<typename PointNT >
pcl::MarchingCubes< PointNT >::MarchingCubes ( const float  percentage_extend_grid = 0.0f,
const float  iso_level = 0.0f 
)
inline

Constructor.

Definition at line 378 of file marching_cubes.h.

template<typename PointNT >
pcl::MarchingCubes< PointNT >::~MarchingCubes ( )
virtual

Destructor.

Definition at line 47 of file marching_cubes.hpp.

Member Function Documentation

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::createSurface ( const std::vector< float > &  leaf_node,
const Eigen::Vector3i &  index_3d,
pcl::PointCloud< PointNT > &  cloud 
)
protected

Calculate out the corresponding polygons in the leaf node.

Parameters
leaf_nodethe leaf node to be checked
index_3dthe 3d index of the leaf node to be checked
cloudpoint cloud to store the vertices of the polygon

Definition at line 84 of file marching_cubes.hpp.

References pcl::edgeTable, pcl::PointCloud< T >::push_back(), and pcl::triTable.

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::getBoundingBox ( )
protected

Get the bounding box for the input data points.

Definition at line 53 of file marching_cubes.hpp.

References pcl::getMinMax3D().

template<typename PointNT >
std::string pcl::MarchingCubes< PointNT >::getClassName ( ) const
inlineprotectedvirtual

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 504 of file marching_cubes.h.

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::getGridResolution ( int &  res_x,
int &  res_y,
int &  res_z 
)
inline

Method to get the marching cubes grid resolution.

Parameters
[in]res_xthe resolution of the grid along the x-axis
[in]res_ythe resolution of the grid along the y-axis
[in]res_zthe resolution of the grid along the z-axis

Definition at line 416 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::res_x_, pcl::MarchingCubes< PointNT >::res_y_, and pcl::MarchingCubes< PointNT >::res_z_.

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::getGridValue ( Eigen::Vector3i  pos)
protectedvirtual

Method that returns the scalar value at the given grid position.

Parameters
[in]posThe 3D position in the grid

TODO what to return?

Definition at line 193 of file marching_cubes.hpp.

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::getIsoLevel ( )
inline

Method that returns the iso level of the surface to be extracted.

Definition at line 398 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::iso_level_.

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::getNeighborList1D ( std::vector< float > &  leaf,
Eigen::Vector3i &  index3d 
)
protected

Method that returns the scalar values of the neighbors of a given 3D position in the grid.

Parameters
[in]index3dthe point in the grid
[out]leafthe set of values

Definition at line 166 of file marching_cubes.hpp.

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::getPercentageExtendGrid ( )
inline

Method that gets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box.

Definition at line 433 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::percentage_extend_grid_.

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::interpolateEdge ( Eigen::Vector3f &  p1,
Eigen::Vector3f &  p2,
float  val_p1,
float  val_p2,
Eigen::Vector3f &  output 
)
protected

Interpolate along the voxel edge.

Parameters
[in]p1The first point on the edge
[in]p2The second point on the edge
[in]val_p1The scalar value at p1
[in]val_p2The scalar value at p2
[out]outputThe interpolated point along the edge

Definition at line 71 of file marching_cubes.hpp.

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::performReconstruction ( pcl::PolygonMesh output)
protectedvirtual

Extract the surface.

Parameters
[out]outputthe resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 209 of file marching_cubes.hpp.

References pcl::PolygonMesh::cloud, pcl::PolygonMesh::polygons, and pcl::toPCLPointCloud2().

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::performReconstruction ( pcl::PointCloud< PointNT > &  points,
std::vector< pcl::Vertices > &  polygons 
)
protectedvirtual

Extract the surface.

Parameters
[out]pointsthe points of the extracted mesh
[out]polygonsthe connectivity between the point of the extracted mesh.

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 221 of file marching_cubes.hpp.

References pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, pcl::PointCloud< T >::reserve(), pcl::PointCloud< T >::size(), pcl::PointCloud< T >::swap(), pcl::Vertices::vertices, and pcl::PointCloud< T >::width.

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::setGridResolution ( int  res_x,
int  res_y,
int  res_z 
)
inline

Method that sets the marching cubes grid resolution.

Parameters
[in]res_xthe resolution of the grid along the x-axis
[in]res_ythe resolution of the grid along the y-axis
[in]res_zthe resolution of the grid along the z-axis

Definition at line 407 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::res_x_, pcl::MarchingCubes< PointNT >::res_y_, and pcl::MarchingCubes< PointNT >::res_z_.

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::setIsoLevel ( float  iso_level)
inline

Method that sets the iso level of the surface to be extracted.

Parameters
[in]iso_levelthe iso level.

Definition at line 393 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::iso_level_.

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::setPercentageExtendGrid ( float  percentage)
inline

Method that sets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits.

Does not affect the resolution of the grid, it just changes the voxel size accordingly.

Parameters
[in]percentagethe percentage of the bounding box that should be left empty between the bounding box and the grid limits.

Definition at line 426 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::percentage_extend_grid_.

template<typename PointNT >
virtual void pcl::MarchingCubes< PointNT >::voxelizeData ( )
protectedpure virtual

Convert the point cloud into voxel data.

Implemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.

Member Data Documentation

template<typename PointNT >
std::vector<float> pcl::MarchingCubes< PointNT >::grid_
protected

The data structure storing the 3D grid.

Definition at line 438 of file marching_cubes.h.

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::iso_level_
protected

The iso level to be extracted.

Definition at line 455 of file marching_cubes.h.

Referenced by pcl::MarchingCubes< PointNT >::getIsoLevel(), and pcl::MarchingCubes< PointNT >::setIsoLevel().

template<typename PointNT >
Eigen::Array3f pcl::MarchingCubes< PointNT >::lower_boundary_
protected

Definition at line 445 of file marching_cubes.h.

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::percentage_extend_grid_
protected

Parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box.

Definition at line 452 of file marching_cubes.h.

Referenced by pcl::MarchingCubes< PointNT >::getPercentageExtendGrid(), and pcl::MarchingCubes< PointNT >::setPercentageExtendGrid().

template<typename PointNT >
int pcl::MarchingCubes< PointNT >::res_x_
protected
template<typename PointNT >
int pcl::MarchingCubes< PointNT >::res_y_
protected
template<typename PointNT >
int pcl::MarchingCubes< PointNT >::res_z_
protected
template<typename PointNT >
Eigen::Array3f pcl::MarchingCubes< PointNT >::size_voxel_
protected

size of voxels

Definition at line 448 of file marching_cubes.h.

template<typename PointNT >
Eigen::Array3f pcl::MarchingCubes< PointNT >::upper_boundary_
protected

bounding box

Definition at line 444 of file marching_cubes.h.


The documentation for this class was generated from the following files: