Point Cloud Library (PCL)  1.9.1-dev
marching_cubes.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_macros.h>
41 #include <pcl/gpu/containers/device_array.h>
42 #include <Eigen/Core>
43 //#include <boost/graph/buffer_concepts.hpp>
44 
45 
46 namespace pcl
47 {
48  namespace gpu
49  {
50  namespace kinfuLS
51  {
52  class TsdfVolume;
53 
54  /** \brief MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU
55  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
56  */
58  {
59  public:
60 
61  /** \brief Default size for triangles buffer */
62  enum
63  {
64  POINTS_PER_TRIANGLE = 3,
65  DEFAULT_TRIANGLES_BUFFER_SIZE = 2 * 1000 * 1000 * POINTS_PER_TRIANGLE * 2
66  };
67 
68  /** \brief Point type. */
70 
71  /** \brief Smart pointer. */
72  using Ptr = boost::shared_ptr<MarchingCubes>;
73 
74  /** \brief Default constructor */
75  MarchingCubes();
76 
77  /** \brief Destructor */
78  ~MarchingCubes();
79 
80  /** \brief Runs marching cubes triangulation.
81  * \param[in] tsdf
82  * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size will be used.
83  * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
84  */
86  run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
87 
88  private:
89  /** \brief Edge table for marching cubes */
90  DeviceArray<int> edgeTable_;
91 
92  /** \brief Number of vertices table for marching cubes */
93  DeviceArray<int> numVertsTable_;
94 
95  /** \brief Triangles table for marching cubes */
96  DeviceArray<int> triTable_;
97 
98  /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
99  DeviceArray2D<int> occupied_voxels_buffer_;
100  };
101  }
102  }
103 }
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU.
boost::shared_ptr< MarchingCubes > Ptr
Smart pointer.
A point structure representing Euclidean xyz coordinates.
TsdfVolume class.
Definition: tsdf_volume.h:61
#define PCL_EXPORTS
Definition: pcl_macros.h:227
Defines all the PCL and non-PCL macros used.