Point Cloud Library (PCL)  1.9.1-dev
marching_cubes_hoppe.h
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35 
36 #pragma once
37 
38 #include <pcl/pcl_macros.h>
39 #include <pcl/surface/boost.h>
40 #include <pcl/surface/marching_cubes.h>
41 
42 namespace 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:
55  using Ptr = boost::shared_ptr<MarchingCubesHoppe<PointNT> >;
56  using ConstPtr = boost::shared_ptr<const MarchingCubesHoppe<PointNT> >;
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) :
78  MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
79  dist_ignore_ (dist_ignore)
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] threshold of distance. Default value is -1.0. Set to negative if all voxels are
95  * to be involved.
96  */
97  inline void
98  setDistanceIgnore (const float dist_ignore)
99  { dist_ignore_ = dist_ignore; }
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
void setDistanceIgnore(const float dist_ignore)
Method that sets the distance for ignoring voxels which are far from point cloud. ...
float getDistanceIgnore() const
get the distance for ignoring voxels which are far from point cloud.
typename KdTree::Ptr KdTreePtr
The marching cubes surface reconstruction algorithm.
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.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
SurfaceReconstruction represents a base surface reconstruction class.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:344
The marching cubes surface reconstruction algorithm, using a signed distance function based on the di...
boost::shared_ptr< MarchingCubes< PointNT > > Ptr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
boost::shared_ptr< KdTree< PointT > > Ptr
Definition: kdtree.h:70
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:441
float dist_ignore_
ignore the distance function if it is negative or distance between voxel centroid and point are large...
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:55
boost::shared_ptr< const MarchingCubes< PointNT > > ConstPtr
Defines all the PCL and non-PCL macros used.