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

The marching cubes surface reconstruction algorithm, using a signed distance function based on radial basis functions. More...

#include <pcl/surface/marching_cubes_rbf.h>

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

Public Types

typedef boost::shared_ptr
< MarchingCubesRBF< PointNT > > 
Ptr
 
typedef boost::shared_ptr
< const MarchingCubesRBF
< PointNT > > 
ConstPtr
 
typedef pcl::PointCloud
< PointNT >::Ptr 
PointCloudPtr
 
typedef pcl::KdTree< PointNT > KdTree
 
typedef pcl::KdTree< PointNT >::Ptr KdTreePtr
 
- Public Types inherited from pcl::MarchingCubes< PointNT >
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

 MarchingCubesRBF (const float off_surface_epsilon=0.1f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
 Constructor. More...
 
 ~MarchingCubesRBF ()
 Destructor. More...
 
void voxelizeData ()
 Convert the point cloud into voxel data. More...
 
void setOffSurfaceDisplacement (float epsilon)
 Set the off-surface points displacement value. More...
 
float getOffSurfaceDisplacement ()
 Get the off-surface points displacement value. More...
 
- Public Member Functions inherited from pcl::MarchingCubes< PointNT >
 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

double kernel (Eigen::Vector3d c, Eigen::Vector3d x)
 the Radial Basis Function kernel. More...
 
- Protected Member Functions inherited from pcl::MarchingCubes< PointNT >
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

float off_surface_epsilon_
 The off-surface displacement value. More...
 
- Protected Attributes inherited from pcl::MarchingCubes< PointNT >
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::MarchingCubesRBF< PointNT >

The marching cubes surface reconstruction algorithm, using a signed distance function based on radial basis functions.

Partially based on: Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R., "Reconstruction and representation of 3D objects with radial basis functions" SIGGRAPH '01

Author
Alexandru E. Ichim

Definition at line 54 of file marching_cubes_rbf.h.

Member Typedef Documentation

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

Definition at line 58 of file marching_cubes_rbf.h.

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

Definition at line 72 of file marching_cubes_rbf.h.

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

Definition at line 73 of file marching_cubes_rbf.h.

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

Definition at line 70 of file marching_cubes_rbf.h.

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

Definition at line 57 of file marching_cubes_rbf.h.

Constructor & Destructor Documentation

template<typename PointNT >
pcl::MarchingCubesRBF< PointNT >::MarchingCubesRBF ( const float  off_surface_epsilon = 0.1f,
const float  percentage_extend_grid = 0.0f,
const float  iso_level = 0.0f 
)
inline

Constructor.

Definition at line 77 of file marching_cubes_rbf.h.

template<typename PointNT >
pcl::MarchingCubesRBF< PointNT >::~MarchingCubesRBF ( )

Destructor.

Definition at line 50 of file marching_cubes_rbf.hpp.

Member Function Documentation

template<typename PointNT >
float pcl::MarchingCubesRBF< PointNT >::getOffSurfaceDisplacement ( )
inline

Get the off-surface points displacement value.

Definition at line 103 of file marching_cubes_rbf.h.

References pcl::MarchingCubesRBF< PointNT >::off_surface_epsilon_.

template<typename PointNT >
double pcl::MarchingCubesRBF< PointNT >::kernel ( Eigen::Vector3d  c,
Eigen::Vector3d  x 
)
protected

the Radial Basis Function kernel.

Definition at line 114 of file marching_cubes_rbf.hpp.

template<typename PointNT >
void pcl::MarchingCubesRBF< PointNT >::setOffSurfaceDisplacement ( float  epsilon)
inline

Set the off-surface points displacement value.

Parameters
[in]epsilonthe value

Definition at line 98 of file marching_cubes_rbf.h.

References pcl::MarchingCubesRBF< PointNT >::off_surface_epsilon_.

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

Convert the point cloud into voxel data.

Implements pcl::MarchingCubes< PointNT >.

Definition at line 56 of file marching_cubes_rbf.hpp.

Member Data Documentation

template<typename PointNT >
float pcl::MarchingCubesRBF< PointNT >::off_surface_epsilon_
protected

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