Point Cloud Library (PCL)  1.9.1-dev
marching_cubes_rbf.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 radial
45  * basis functions. Partially based on:
46  * Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
47  * "Reconstruction and representation of 3D objects with radial basis functions"
48  * SIGGRAPH '01
49  *
50  * \author Alexandru E. Ichim
51  * \ingroup surface
52  */
53  template <typename PointNT>
54  class MarchingCubesRBF : public MarchingCubes<PointNT>
55  {
56  public:
57  using Ptr = boost::shared_ptr<MarchingCubesRBF<PointNT> >;
58  using ConstPtr = boost::shared_ptr<const MarchingCubesRBF<PointNT> >;
59 
69 
71 
73  using KdTreePtr = typename KdTree::Ptr;
74 
75 
76  /** \brief Constructor. */
77  MarchingCubesRBF (const float off_surface_epsilon = 0.1f,
78  const float percentage_extend_grid = 0.0f,
79  const float iso_level = 0.0f) :
80  MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
81  off_surface_epsilon_ (off_surface_epsilon)
82  {
83  }
84 
85  /** \brief Destructor. */
87 
88  /** \brief Convert the point cloud into voxel data.
89  */
90  void
91  voxelizeData () override;
92 
93 
94  /** \brief Set the off-surface points displacement value.
95  * \param[in] epsilon the value
96  */
97  inline void
98  setOffSurfaceDisplacement (float epsilon)
99  { off_surface_epsilon_ = epsilon; }
100 
101  /** \brief Get the off-surface points displacement value. */
102  inline float
104  { return off_surface_epsilon_; }
105 
106 
107  protected:
108  /** \brief the Radial Basis Function kernel. */
109  double
110  kernel (Eigen::Vector3d c, Eigen::Vector3d x);
111 
112  /** \brief The off-surface displacement value. */
114 
115  public:
117  };
118 }
119 
120 #ifdef PCL_NO_PRECOMPILE
121 #include <pcl/surface/impl/marching_cubes_rbf.hpp>
122 #endif
float getOffSurfaceDisplacement()
Get the off-surface points displacement value.
typename KdTree::Ptr KdTreePtr
The marching cubes surface reconstruction algorithm.
float off_surface_epsilon_
The off-surface displacement value.
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:359
double kernel(Eigen::Vector3d c, Eigen::Vector3d x)
the Radial Basis Function kernel.
The marching cubes surface reconstruction algorithm, using a signed distance function based on radial...
boost::shared_ptr< MarchingCubes< PointNT > > Ptr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
boost::shared_ptr< KdTree< PointT > > Ptr
Definition: kdtree.h:70
void setOffSurfaceDisplacement(float epsilon)
Set the off-surface points displacement value.
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:411
void voxelizeData() override
Convert the point cloud into voxel data.
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:55
MarchingCubesRBF(const float off_surface_epsilon=0.1f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
boost::shared_ptr< const MarchingCubes< PointNT > > ConstPtr
Defines all the PCL and non-PCL macros used.