Point Cloud Library (PCL)  1.10.1-dev
marching_cubes.h
1 /*
2  * Software License Agreement (BSD License)
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4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
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15  * disclaimer in the documentation and/or other materials provided
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35 
36 #pragma once
37 
38 #include <pcl/memory.h>
39 #include <pcl/pcl_macros.h>
40 #include <pcl/surface/boost.h>
41 #include <pcl/surface/reconstruction.h>
42 
43 namespace pcl
44 {
45  /*
46  * Tables, and functions, derived from Paul Bourke's Marching Cubes implementation:
47  * http://paulbourke.net/geometry/polygonise/
48  * Cube vertex indices:
49  * y_dir 4 ________ 5
50  * /| /|
51  * / | / |
52  * 7 /_______ / |
53  * | | |6 |
54  * | 0|__|_____|1 x_dir
55  * | / | /
56  * | / | /
57  z_dir|/_______|/
58  * 3 2
59  */
60  const unsigned int edgeTable[256] = {
61  0x0 , 0x109, 0x203, 0x30a, 0x406, 0x50f, 0x605, 0x70c,
62  0x80c, 0x905, 0xa0f, 0xb06, 0xc0a, 0xd03, 0xe09, 0xf00,
63  0x190, 0x99 , 0x393, 0x29a, 0x596, 0x49f, 0x795, 0x69c,
64  0x99c, 0x895, 0xb9f, 0xa96, 0xd9a, 0xc93, 0xf99, 0xe90,
65  0x230, 0x339, 0x33 , 0x13a, 0x636, 0x73f, 0x435, 0x53c,
66  0xa3c, 0xb35, 0x83f, 0x936, 0xe3a, 0xf33, 0xc39, 0xd30,
67  0x3a0, 0x2a9, 0x1a3, 0xaa , 0x7a6, 0x6af, 0x5a5, 0x4ac,
68  0xbac, 0xaa5, 0x9af, 0x8a6, 0xfaa, 0xea3, 0xda9, 0xca0,
69  0x460, 0x569, 0x663, 0x76a, 0x66 , 0x16f, 0x265, 0x36c,
70  0xc6c, 0xd65, 0xe6f, 0xf66, 0x86a, 0x963, 0xa69, 0xb60,
71  0x5f0, 0x4f9, 0x7f3, 0x6fa, 0x1f6, 0xff , 0x3f5, 0x2fc,
72  0xdfc, 0xcf5, 0xfff, 0xef6, 0x9fa, 0x8f3, 0xbf9, 0xaf0,
73  0x650, 0x759, 0x453, 0x55a, 0x256, 0x35f, 0x55 , 0x15c,
74  0xe5c, 0xf55, 0xc5f, 0xd56, 0xa5a, 0xb53, 0x859, 0x950,
75  0x7c0, 0x6c9, 0x5c3, 0x4ca, 0x3c6, 0x2cf, 0x1c5, 0xcc ,
76  0xfcc, 0xec5, 0xdcf, 0xcc6, 0xbca, 0xac3, 0x9c9, 0x8c0,
77  0x8c0, 0x9c9, 0xac3, 0xbca, 0xcc6, 0xdcf, 0xec5, 0xfcc,
78  0xcc , 0x1c5, 0x2cf, 0x3c6, 0x4ca, 0x5c3, 0x6c9, 0x7c0,
79  0x950, 0x859, 0xb53, 0xa5a, 0xd56, 0xc5f, 0xf55, 0xe5c,
80  0x15c, 0x55 , 0x35f, 0x256, 0x55a, 0x453, 0x759, 0x650,
81  0xaf0, 0xbf9, 0x8f3, 0x9fa, 0xef6, 0xfff, 0xcf5, 0xdfc,
82  0x2fc, 0x3f5, 0xff , 0x1f6, 0x6fa, 0x7f3, 0x4f9, 0x5f0,
83  0xb60, 0xa69, 0x963, 0x86a, 0xf66, 0xe6f, 0xd65, 0xc6c,
84  0x36c, 0x265, 0x16f, 0x66 , 0x76a, 0x663, 0x569, 0x460,
85  0xca0, 0xda9, 0xea3, 0xfaa, 0x8a6, 0x9af, 0xaa5, 0xbac,
86  0x4ac, 0x5a5, 0x6af, 0x7a6, 0xaa , 0x1a3, 0x2a9, 0x3a0,
87  0xd30, 0xc39, 0xf33, 0xe3a, 0x936, 0x83f, 0xb35, 0xa3c,
88  0x53c, 0x435, 0x73f, 0x636, 0x13a, 0x33 , 0x339, 0x230,
89  0xe90, 0xf99, 0xc93, 0xd9a, 0xa96, 0xb9f, 0x895, 0x99c,
90  0x69c, 0x795, 0x49f, 0x596, 0x29a, 0x393, 0x99 , 0x190,
91  0xf00, 0xe09, 0xd03, 0xc0a, 0xb06, 0xa0f, 0x905, 0x80c,
92  0x70c, 0x605, 0x50f, 0x406, 0x30a, 0x203, 0x109, 0x0
93  };
94  const int triTable[256][16] = {
95  {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
96  {0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
97  {0, 1, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
98  {1, 8, 3, 9, 8, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
99  {1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
100  {0, 8, 3, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
101  {9, 2, 10, 0, 2, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
102  {2, 8, 3, 2, 10, 8, 10, 9, 8, -1, -1, -1, -1, -1, -1, -1},
103  {3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
104  {0, 11, 2, 8, 11, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
105  {1, 9, 0, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
106  {1, 11, 2, 1, 9, 11, 9, 8, 11, -1, -1, -1, -1, -1, -1, -1},
107  {3, 10, 1, 11, 10, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
108  {0, 10, 1, 0, 8, 10, 8, 11, 10, -1, -1, -1, -1, -1, -1, -1},
109  {3, 9, 0, 3, 11, 9, 11, 10, 9, -1, -1, -1, -1, -1, -1, -1},
110  {9, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
111  {4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
112  {4, 3, 0, 7, 3, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
113  {0, 1, 9, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
114  {4, 1, 9, 4, 7, 1, 7, 3, 1, -1, -1, -1, -1, -1, -1, -1},
115  {1, 2, 10, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
116  {3, 4, 7, 3, 0, 4, 1, 2, 10, -1, -1, -1, -1, -1, -1, -1},
117  {9, 2, 10, 9, 0, 2, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1},
118  {2, 10, 9, 2, 9, 7, 2, 7, 3, 7, 9, 4, -1, -1, -1, -1},
119  {8, 4, 7, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
120  {11, 4, 7, 11, 2, 4, 2, 0, 4, -1, -1, -1, -1, -1, -1, -1},
121  {9, 0, 1, 8, 4, 7, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1},
122  {4, 7, 11, 9, 4, 11, 9, 11, 2, 9, 2, 1, -1, -1, -1, -1},
123  {3, 10, 1, 3, 11, 10, 7, 8, 4, -1, -1, -1, -1, -1, -1, -1},
124  {1, 11, 10, 1, 4, 11, 1, 0, 4, 7, 11, 4, -1, -1, -1, -1},
125  {4, 7, 8, 9, 0, 11, 9, 11, 10, 11, 0, 3, -1, -1, -1, -1},
126  {4, 7, 11, 4, 11, 9, 9, 11, 10, -1, -1, -1, -1, -1, -1, -1},
127  {9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
128  {9, 5, 4, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
129  {0, 5, 4, 1, 5, 0, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
130  {8, 5, 4, 8, 3, 5, 3, 1, 5, -1, -1, -1, -1, -1, -1, -1},
131  {1, 2, 10, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
132  {3, 0, 8, 1, 2, 10, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1},
133  {5, 2, 10, 5, 4, 2, 4, 0, 2, -1, -1, -1, -1, -1, -1, -1},
134  {2, 10, 5, 3, 2, 5, 3, 5, 4, 3, 4, 8, -1, -1, -1, -1},
135  {9, 5, 4, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
136  {0, 11, 2, 0, 8, 11, 4, 9, 5, -1, -1, -1, -1, -1, -1, -1},
137  {0, 5, 4, 0, 1, 5, 2, 3, 11, -1, -1, -1, -1, -1, -1, -1},
138  {2, 1, 5, 2, 5, 8, 2, 8, 11, 4, 8, 5, -1, -1, -1, -1},
139  {10, 3, 11, 10, 1, 3, 9, 5, 4, -1, -1, -1, -1, -1, -1, -1},
140  {4, 9, 5, 0, 8, 1, 8, 10, 1, 8, 11, 10, -1, -1, -1, -1},
141  {5, 4, 0, 5, 0, 11, 5, 11, 10, 11, 0, 3, -1, -1, -1, -1},
142  {5, 4, 8, 5, 8, 10, 10, 8, 11, -1, -1, -1, -1, -1, -1, -1},
143  {9, 7, 8, 5, 7, 9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
144  {9, 3, 0, 9, 5, 3, 5, 7, 3, -1, -1, -1, -1, -1, -1, -1},
145  {0, 7, 8, 0, 1, 7, 1, 5, 7, -1, -1, -1, -1, -1, -1, -1},
146  {1, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
147  {9, 7, 8, 9, 5, 7, 10, 1, 2, -1, -1, -1, -1, -1, -1, -1},
148  {10, 1, 2, 9, 5, 0, 5, 3, 0, 5, 7, 3, -1, -1, -1, -1},
149  {8, 0, 2, 8, 2, 5, 8, 5, 7, 10, 5, 2, -1, -1, -1, -1},
150  {2, 10, 5, 2, 5, 3, 3, 5, 7, -1, -1, -1, -1, -1, -1, -1},
151  {7, 9, 5, 7, 8, 9, 3, 11, 2, -1, -1, -1, -1, -1, -1, -1},
152  {9, 5, 7, 9, 7, 2, 9, 2, 0, 2, 7, 11, -1, -1, -1, -1},
153  {2, 3, 11, 0, 1, 8, 1, 7, 8, 1, 5, 7, -1, -1, -1, -1},
154  {11, 2, 1, 11, 1, 7, 7, 1, 5, -1, -1, -1, -1, -1, -1, -1},
155  {9, 5, 8, 8, 5, 7, 10, 1, 3, 10, 3, 11, -1, -1, -1, -1},
156  {5, 7, 0, 5, 0, 9, 7, 11, 0, 1, 0, 10, 11, 10, 0, -1},
157  {11, 10, 0, 11, 0, 3, 10, 5, 0, 8, 0, 7, 5, 7, 0, -1},
158  {11, 10, 5, 7, 11, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
159  {10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
160  {0, 8, 3, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
161  {9, 0, 1, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
162  {1, 8, 3, 1, 9, 8, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1},
163  {1, 6, 5, 2, 6, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
164  {1, 6, 5, 1, 2, 6, 3, 0, 8, -1, -1, -1, -1, -1, -1, -1},
165  {9, 6, 5, 9, 0, 6, 0, 2, 6, -1, -1, -1, -1, -1, -1, -1},
166  {5, 9, 8, 5, 8, 2, 5, 2, 6, 3, 2, 8, -1, -1, -1, -1},
167  {2, 3, 11, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
168  {11, 0, 8, 11, 2, 0, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1},
169  {0, 1, 9, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1, -1, -1, -1},
170  {5, 10, 6, 1, 9, 2, 9, 11, 2, 9, 8, 11, -1, -1, -1, -1},
171  {6, 3, 11, 6, 5, 3, 5, 1, 3, -1, -1, -1, -1, -1, -1, -1},
172  {0, 8, 11, 0, 11, 5, 0, 5, 1, 5, 11, 6, -1, -1, -1, -1},
173  {3, 11, 6, 0, 3, 6, 0, 6, 5, 0, 5, 9, -1, -1, -1, -1},
174  {6, 5, 9, 6, 9, 11, 11, 9, 8, -1, -1, -1, -1, -1, -1, -1},
175  {5, 10, 6, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
176  {4, 3, 0, 4, 7, 3, 6, 5, 10, -1, -1, -1, -1, -1, -1, -1},
177  {1, 9, 0, 5, 10, 6, 8, 4, 7, -1, -1, -1, -1, -1, -1, -1},
178  {10, 6, 5, 1, 9, 7, 1, 7, 3, 7, 9, 4, -1, -1, -1, -1},
179  {6, 1, 2, 6, 5, 1, 4, 7, 8, -1, -1, -1, -1, -1, -1, -1},
180  {1, 2, 5, 5, 2, 6, 3, 0, 4, 3, 4, 7, -1, -1, -1, -1},
181  {8, 4, 7, 9, 0, 5, 0, 6, 5, 0, 2, 6, -1, -1, -1, -1},
182  {7, 3, 9, 7, 9, 4, 3, 2, 9, 5, 9, 6, 2, 6, 9, -1},
183  {3, 11, 2, 7, 8, 4, 10, 6, 5, -1, -1, -1, -1, -1, -1, -1},
184  {5, 10, 6, 4, 7, 2, 4, 2, 0, 2, 7, 11, -1, -1, -1, -1},
185  {0, 1, 9, 4, 7, 8, 2, 3, 11, 5, 10, 6, -1, -1, -1, -1},
186  {9, 2, 1, 9, 11, 2, 9, 4, 11, 7, 11, 4, 5, 10, 6, -1},
187  {8, 4, 7, 3, 11, 5, 3, 5, 1, 5, 11, 6, -1, -1, -1, -1},
188  {5, 1, 11, 5, 11, 6, 1, 0, 11, 7, 11, 4, 0, 4, 11, -1},
189  {0, 5, 9, 0, 6, 5, 0, 3, 6, 11, 6, 3, 8, 4, 7, -1},
190  {6, 5, 9, 6, 9, 11, 4, 7, 9, 7, 11, 9, -1, -1, -1, -1},
191  {10, 4, 9, 6, 4, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
192  {4, 10, 6, 4, 9, 10, 0, 8, 3, -1, -1, -1, -1, -1, -1, -1},
193  {10, 0, 1, 10, 6, 0, 6, 4, 0, -1, -1, -1, -1, -1, -1, -1},
194  {8, 3, 1, 8, 1, 6, 8, 6, 4, 6, 1, 10, -1, -1, -1, -1},
195  {1, 4, 9, 1, 2, 4, 2, 6, 4, -1, -1, -1, -1, -1, -1, -1},
196  {3, 0, 8, 1, 2, 9, 2, 4, 9, 2, 6, 4, -1, -1, -1, -1},
197  {0, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
198  {8, 3, 2, 8, 2, 4, 4, 2, 6, -1, -1, -1, -1, -1, -1, -1},
199  {10, 4, 9, 10, 6, 4, 11, 2, 3, -1, -1, -1, -1, -1, -1, -1},
200  {0, 8, 2, 2, 8, 11, 4, 9, 10, 4, 10, 6, -1, -1, -1, -1},
201  {3, 11, 2, 0, 1, 6, 0, 6, 4, 6, 1, 10, -1, -1, -1, -1},
202  {6, 4, 1, 6, 1, 10, 4, 8, 1, 2, 1, 11, 8, 11, 1, -1},
203  {9, 6, 4, 9, 3, 6, 9, 1, 3, 11, 6, 3, -1, -1, -1, -1},
204  {8, 11, 1, 8, 1, 0, 11, 6, 1, 9, 1, 4, 6, 4, 1, -1},
205  {3, 11, 6, 3, 6, 0, 0, 6, 4, -1, -1, -1, -1, -1, -1, -1},
206  {6, 4, 8, 11, 6, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
207  {7, 10, 6, 7, 8, 10, 8, 9, 10, -1, -1, -1, -1, -1, -1, -1},
208  {0, 7, 3, 0, 10, 7, 0, 9, 10, 6, 7, 10, -1, -1, -1, -1},
209  {10, 6, 7, 1, 10, 7, 1, 7, 8, 1, 8, 0, -1, -1, -1, -1},
210  {10, 6, 7, 10, 7, 1, 1, 7, 3, -1, -1, -1, -1, -1, -1, -1},
211  {1, 2, 6, 1, 6, 8, 1, 8, 9, 8, 6, 7, -1, -1, -1, -1},
212  {2, 6, 9, 2, 9, 1, 6, 7, 9, 0, 9, 3, 7, 3, 9, -1},
213  {7, 8, 0, 7, 0, 6, 6, 0, 2, -1, -1, -1, -1, -1, -1, -1},
214  {7, 3, 2, 6, 7, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
215  {2, 3, 11, 10, 6, 8, 10, 8, 9, 8, 6, 7, -1, -1, -1, -1},
216  {2, 0, 7, 2, 7, 11, 0, 9, 7, 6, 7, 10, 9, 10, 7, -1},
217  {1, 8, 0, 1, 7, 8, 1, 10, 7, 6, 7, 10, 2, 3, 11, -1},
218  {11, 2, 1, 11, 1, 7, 10, 6, 1, 6, 7, 1, -1, -1, -1, -1},
219  {8, 9, 6, 8, 6, 7, 9, 1, 6, 11, 6, 3, 1, 3, 6, -1},
220  {0, 9, 1, 11, 6, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
221  {7, 8, 0, 7, 0, 6, 3, 11, 0, 11, 6, 0, -1, -1, -1, -1},
222  {7, 11, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
223  {7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
224  {3, 0, 8, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
225  {0, 1, 9, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
226  {8, 1, 9, 8, 3, 1, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1},
227  {10, 1, 2, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
228  {1, 2, 10, 3, 0, 8, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1},
229  {2, 9, 0, 2, 10, 9, 6, 11, 7, -1, -1, -1, -1, -1, -1, -1},
230  {6, 11, 7, 2, 10, 3, 10, 8, 3, 10, 9, 8, -1, -1, -1, -1},
231  {7, 2, 3, 6, 2, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
232  {7, 0, 8, 7, 6, 0, 6, 2, 0, -1, -1, -1, -1, -1, -1, -1},
233  {2, 7, 6, 2, 3, 7, 0, 1, 9, -1, -1, -1, -1, -1, -1, -1},
234  {1, 6, 2, 1, 8, 6, 1, 9, 8, 8, 7, 6, -1, -1, -1, -1},
235  {10, 7, 6, 10, 1, 7, 1, 3, 7, -1, -1, -1, -1, -1, -1, -1},
236  {10, 7, 6, 1, 7, 10, 1, 8, 7, 1, 0, 8, -1, -1, -1, -1},
237  {0, 3, 7, 0, 7, 10, 0, 10, 9, 6, 10, 7, -1, -1, -1, -1},
238  {7, 6, 10, 7, 10, 8, 8, 10, 9, -1, -1, -1, -1, -1, -1, -1},
239  {6, 8, 4, 11, 8, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
240  {3, 6, 11, 3, 0, 6, 0, 4, 6, -1, -1, -1, -1, -1, -1, -1},
241  {8, 6, 11, 8, 4, 6, 9, 0, 1, -1, -1, -1, -1, -1, -1, -1},
242  {9, 4, 6, 9, 6, 3, 9, 3, 1, 11, 3, 6, -1, -1, -1, -1},
243  {6, 8, 4, 6, 11, 8, 2, 10, 1, -1, -1, -1, -1, -1, -1, -1},
244  {1, 2, 10, 3, 0, 11, 0, 6, 11, 0, 4, 6, -1, -1, -1, -1},
245  {4, 11, 8, 4, 6, 11, 0, 2, 9, 2, 10, 9, -1, -1, -1, -1},
246  {10, 9, 3, 10, 3, 2, 9, 4, 3, 11, 3, 6, 4, 6, 3, -1},
247  {8, 2, 3, 8, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1},
248  {0, 4, 2, 4, 6, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
249  {1, 9, 0, 2, 3, 4, 2, 4, 6, 4, 3, 8, -1, -1, -1, -1},
250  {1, 9, 4, 1, 4, 2, 2, 4, 6, -1, -1, -1, -1, -1, -1, -1},
251  {8, 1, 3, 8, 6, 1, 8, 4, 6, 6, 10, 1, -1, -1, -1, -1},
252  {10, 1, 0, 10, 0, 6, 6, 0, 4, -1, -1, -1, -1, -1, -1, -1},
253  {4, 6, 3, 4, 3, 8, 6, 10, 3, 0, 3, 9, 10, 9, 3, -1},
254  {10, 9, 4, 6, 10, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
255  {4, 9, 5, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
256  {0, 8, 3, 4, 9, 5, 11, 7, 6, -1, -1, -1, -1, -1, -1, -1},
257  {5, 0, 1, 5, 4, 0, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1},
258  {11, 7, 6, 8, 3, 4, 3, 5, 4, 3, 1, 5, -1, -1, -1, -1},
259  {9, 5, 4, 10, 1, 2, 7, 6, 11, -1, -1, -1, -1, -1, -1, -1},
260  {6, 11, 7, 1, 2, 10, 0, 8, 3, 4, 9, 5, -1, -1, -1, -1},
261  {7, 6, 11, 5, 4, 10, 4, 2, 10, 4, 0, 2, -1, -1, -1, -1},
262  {3, 4, 8, 3, 5, 4, 3, 2, 5, 10, 5, 2, 11, 7, 6, -1},
263  {7, 2, 3, 7, 6, 2, 5, 4, 9, -1, -1, -1, -1, -1, -1, -1},
264  {9, 5, 4, 0, 8, 6, 0, 6, 2, 6, 8, 7, -1, -1, -1, -1},
265  {3, 6, 2, 3, 7, 6, 1, 5, 0, 5, 4, 0, -1, -1, -1, -1},
266  {6, 2, 8, 6, 8, 7, 2, 1, 8, 4, 8, 5, 1, 5, 8, -1},
267  {9, 5, 4, 10, 1, 6, 1, 7, 6, 1, 3, 7, -1, -1, -1, -1},
268  {1, 6, 10, 1, 7, 6, 1, 0, 7, 8, 7, 0, 9, 5, 4, -1},
269  {4, 0, 10, 4, 10, 5, 0, 3, 10, 6, 10, 7, 3, 7, 10, -1},
270  {7, 6, 10, 7, 10, 8, 5, 4, 10, 4, 8, 10, -1, -1, -1, -1},
271  {6, 9, 5, 6, 11, 9, 11, 8, 9, -1, -1, -1, -1, -1, -1, -1},
272  {3, 6, 11, 0, 6, 3, 0, 5, 6, 0, 9, 5, -1, -1, -1, -1},
273  {0, 11, 8, 0, 5, 11, 0, 1, 5, 5, 6, 11, -1, -1, -1, -1},
274  {6, 11, 3, 6, 3, 5, 5, 3, 1, -1, -1, -1, -1, -1, -1, -1},
275  {1, 2, 10, 9, 5, 11, 9, 11, 8, 11, 5, 6, -1, -1, -1, -1},
276  {0, 11, 3, 0, 6, 11, 0, 9, 6, 5, 6, 9, 1, 2, 10, -1},
277  {11, 8, 5, 11, 5, 6, 8, 0, 5, 10, 5, 2, 0, 2, 5, -1},
278  {6, 11, 3, 6, 3, 5, 2, 10, 3, 10, 5, 3, -1, -1, -1, -1},
279  {5, 8, 9, 5, 2, 8, 5, 6, 2, 3, 8, 2, -1, -1, -1, -1},
280  {9, 5, 6, 9, 6, 0, 0, 6, 2, -1, -1, -1, -1, -1, -1, -1},
281  {1, 5, 8, 1, 8, 0, 5, 6, 8, 3, 8, 2, 6, 2, 8, -1},
282  {1, 5, 6, 2, 1, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
283  {1, 3, 6, 1, 6, 10, 3, 8, 6, 5, 6, 9, 8, 9, 6, -1},
284  {10, 1, 0, 10, 0, 6, 9, 5, 0, 5, 6, 0, -1, -1, -1, -1},
285  {0, 3, 8, 5, 6, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
286  {10, 5, 6, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
287  {11, 5, 10, 7, 5, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
288  {11, 5, 10, 11, 7, 5, 8, 3, 0, -1, -1, -1, -1, -1, -1, -1},
289  {5, 11, 7, 5, 10, 11, 1, 9, 0, -1, -1, -1, -1, -1, -1, -1},
290  {10, 7, 5, 10, 11, 7, 9, 8, 1, 8, 3, 1, -1, -1, -1, -1},
291  {11, 1, 2, 11, 7, 1, 7, 5, 1, -1, -1, -1, -1, -1, -1, -1},
292  {0, 8, 3, 1, 2, 7, 1, 7, 5, 7, 2, 11, -1, -1, -1, -1},
293  {9, 7, 5, 9, 2, 7, 9, 0, 2, 2, 11, 7, -1, -1, -1, -1},
294  {7, 5, 2, 7, 2, 11, 5, 9, 2, 3, 2, 8, 9, 8, 2, -1},
295  {2, 5, 10, 2, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1},
296  {8, 2, 0, 8, 5, 2, 8, 7, 5, 10, 2, 5, -1, -1, -1, -1},
297  {9, 0, 1, 5, 10, 3, 5, 3, 7, 3, 10, 2, -1, -1, -1, -1},
298  {9, 8, 2, 9, 2, 1, 8, 7, 2, 10, 2, 5, 7, 5, 2, -1},
299  {1, 3, 5, 3, 7, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
300  {0, 8, 7, 0, 7, 1, 1, 7, 5, -1, -1, -1, -1, -1, -1, -1},
301  {9, 0, 3, 9, 3, 5, 5, 3, 7, -1, -1, -1, -1, -1, -1, -1},
302  {9, 8, 7, 5, 9, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
303  {5, 8, 4, 5, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1},
304  {5, 0, 4, 5, 11, 0, 5, 10, 11, 11, 3, 0, -1, -1, -1, -1},
305  {0, 1, 9, 8, 4, 10, 8, 10, 11, 10, 4, 5, -1, -1, -1, -1},
306  {10, 11, 4, 10, 4, 5, 11, 3, 4, 9, 4, 1, 3, 1, 4, -1},
307  {2, 5, 1, 2, 8, 5, 2, 11, 8, 4, 5, 8, -1, -1, -1, -1},
308  {0, 4, 11, 0, 11, 3, 4, 5, 11, 2, 11, 1, 5, 1, 11, -1},
309  {0, 2, 5, 0, 5, 9, 2, 11, 5, 4, 5, 8, 11, 8, 5, -1},
310  {9, 4, 5, 2, 11, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
311  {2, 5, 10, 3, 5, 2, 3, 4, 5, 3, 8, 4, -1, -1, -1, -1},
312  {5, 10, 2, 5, 2, 4, 4, 2, 0, -1, -1, -1, -1, -1, -1, -1},
313  {3, 10, 2, 3, 5, 10, 3, 8, 5, 4, 5, 8, 0, 1, 9, -1},
314  {5, 10, 2, 5, 2, 4, 1, 9, 2, 9, 4, 2, -1, -1, -1, -1},
315  {8, 4, 5, 8, 5, 3, 3, 5, 1, -1, -1, -1, -1, -1, -1, -1},
316  {0, 4, 5, 1, 0, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
317  {8, 4, 5, 8, 5, 3, 9, 0, 5, 0, 3, 5, -1, -1, -1, -1},
318  {9, 4, 5, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
319  {4, 11, 7, 4, 9, 11, 9, 10, 11, -1, -1, -1, -1, -1, -1, -1},
320  {0, 8, 3, 4, 9, 7, 9, 11, 7, 9, 10, 11, -1, -1, -1, -1},
321  {1, 10, 11, 1, 11, 4, 1, 4, 0, 7, 4, 11, -1, -1, -1, -1},
322  {3, 1, 4, 3, 4, 8, 1, 10, 4, 7, 4, 11, 10, 11, 4, -1},
323  {4, 11, 7, 9, 11, 4, 9, 2, 11, 9, 1, 2, -1, -1, -1, -1},
324  {9, 7, 4, 9, 11, 7, 9, 1, 11, 2, 11, 1, 0, 8, 3, -1},
325  {11, 7, 4, 11, 4, 2, 2, 4, 0, -1, -1, -1, -1, -1, -1, -1},
326  {11, 7, 4, 11, 4, 2, 8, 3, 4, 3, 2, 4, -1, -1, -1, -1},
327  {2, 9, 10, 2, 7, 9, 2, 3, 7, 7, 4, 9, -1, -1, -1, -1},
328  {9, 10, 7, 9, 7, 4, 10, 2, 7, 8, 7, 0, 2, 0, 7, -1},
329  {3, 7, 10, 3, 10, 2, 7, 4, 10, 1, 10, 0, 4, 0, 10, -1},
330  {1, 10, 2, 8, 7, 4, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
331  {4, 9, 1, 4, 1, 7, 7, 1, 3, -1, -1, -1, -1, -1, -1, -1},
332  {4, 9, 1, 4, 1, 7, 0, 8, 1, 8, 7, 1, -1, -1, -1, -1},
333  {4, 0, 3, 7, 4, 3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
334  {4, 8, 7, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
335  {9, 10, 8, 10, 11, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
336  {3, 0, 9, 3, 9, 11, 11, 9, 10, -1, -1, -1, -1, -1, -1, -1},
337  {0, 1, 10, 0, 10, 8, 8, 10, 11, -1, -1, -1, -1, -1, -1, -1},
338  {3, 1, 10, 11, 3, 10, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
339  {1, 2, 11, 1, 11, 9, 9, 11, 8, -1, -1, -1, -1, -1, -1, -1},
340  {3, 0, 9, 3, 9, 11, 1, 2, 9, 2, 11, 9, -1, -1, -1, -1},
341  {0, 2, 11, 8, 0, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
342  {3, 2, 11, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
343  {2, 3, 8, 2, 8, 10, 10, 8, 9, -1, -1, -1, -1, -1, -1, -1},
344  {9, 10, 2, 0, 9, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
345  {2, 3, 8, 2, 8, 10, 0, 1, 8, 1, 10, 8, -1, -1, -1, -1},
346  {1, 10, 2, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
347  {1, 3, 8, 9, 1, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
348  {0, 9, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
349  {0, 3, 8, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1},
350  {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1}
351  };
352 
353 
354  /** \brief The marching cubes surface reconstruction algorithm. This is an abstract class that takes a grid and
355  * extracts the isosurface as a mesh, based on the original marching cubes paper:
356  *
357  * Lorensen W.E., Cline H.E., "Marching cubes: A high resolution 3d surface construction algorithm",
358  * SIGGRAPH '87
359  *
360  * \author Alexandru E. Ichim
361  * \ingroup surface
362  */
363  template <typename PointNT>
364  class MarchingCubes : public SurfaceReconstruction<PointNT>
365  {
366  public:
369 
372 
374 
376  using KdTreePtr = typename KdTree::Ptr;
377 
378  /** \brief Constructor. */
379  MarchingCubes (const float percentage_extend_grid = 0.0f,
380  const float iso_level = 0.0f) :
381  percentage_extend_grid_ (percentage_extend_grid),
382  iso_level_ (iso_level)
383  {
384  }
385 
386  /** \brief Destructor. */
387  ~MarchingCubes ();
388 
389 
390  /** \brief Method that sets the iso level of the surface to be extracted.
391  * \param[in] iso_level the iso level.
392  */
393  inline void
394  setIsoLevel (float iso_level)
395  { iso_level_ = iso_level; }
396 
397  /** \brief Method that returns the iso level of the surface to be extracted. */
398  inline float
400  { return iso_level_; }
401 
402  /** \brief Method that sets the marching cubes grid resolution.
403  * \param[in] res_x the resolution of the grid along the x-axis
404  * \param[in] res_y the resolution of the grid along the y-axis
405  * \param[in] res_z the resolution of the grid along the z-axis
406  */
407  inline void
408  setGridResolution (int res_x, int res_y, int res_z)
409  { res_x_ = res_x; res_y_ = res_y; res_z_ = res_z; }
410 
411  /** \brief Method to get the marching cubes grid resolution.
412  * \param[in] res_x the resolution of the grid along the x-axis
413  * \param[in] res_y the resolution of the grid along the y-axis
414  * \param[in] res_z the resolution of the grid along the z-axis
415  */
416  inline void
417  getGridResolution (int &res_x, int &res_y, int &res_z)
418  { res_x = res_x_; res_y = res_y_; res_z = res_z_; }
419 
420  /** \brief Method that sets the parameter that defines how much free space should be left inside the grid between
421  * the bounding box of the point cloud and the grid limits. Does not affect the resolution of the grid, it just
422  * changes the voxel size accordingly.
423  * \param[in] percentage the percentage of the bounding box that should be left empty between the bounding box and
424  * the grid limits.
425  */
426  inline void
427  setPercentageExtendGrid (float percentage)
428  { percentage_extend_grid_ = percentage; }
429 
430  /** \brief Method that gets the parameter that defines how much free space should be left inside the grid between
431  * the bounding box of the point cloud and the grid limits, as a percentage of the bounding box.
432  */
433  inline float
435  { return percentage_extend_grid_; }
436 
437  protected:
438  /** \brief The data structure storing the 3D grid */
439  std::vector<float> grid_;
440 
441  /** \brief The grid resolution */
442  int res_x_ = 32, res_y_ = 32, res_z_ = 32;
443 
444  /** \brief bounding box */
445  Eigen::Array3f upper_boundary_;
446  Eigen::Array3f lower_boundary_;
447 
448  /** \brief size of voxels */
449  Eigen::Array3f size_voxel_;
450 
451  /** \brief Parameter that defines how much free space should be left inside the grid between
452  * the bounding box of the point cloud and the grid limits, as a percentage of the bounding box.*/
454 
455  /** \brief The iso level to be extracted. */
456  float iso_level_;
457 
458  /** \brief Convert the point cloud into voxel data.
459  */
460  virtual void
461  voxelizeData () = 0;
462 
463  /** \brief Interpolate along the voxel edge.
464  * \param[in] p1 The first point on the edge
465  * \param[in] p2 The second point on the edge
466  * \param[in] val_p1 The scalar value at p1
467  * \param[in] val_p2 The scalar value at p2
468  * \param[out] output The interpolated point along the edge
469  */
470  void
471  interpolateEdge (Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output);
472 
473 
474  /** \brief Calculate out the corresponding polygons in the leaf node
475  * \param leaf_node the leaf node to be checked
476  * \param index_3d the 3d index of the leaf node to be checked
477  * \param cloud point cloud to store the vertices of the polygon
478  */
479  void
480  createSurface (const std::vector<float> &leaf_node,
481  const Eigen::Vector3i &index_3d,
482  pcl::PointCloud<PointNT> &cloud);
483 
484  /** \brief Get the bounding box for the input data points.
485  */
486  void
487  getBoundingBox ();
488 
489 
490  /** \brief Method that returns the scalar value at the given grid position.
491  * \param[in] pos The 3D position in the grid
492  */
493  virtual float
494  getGridValue (Eigen::Vector3i pos);
495 
496  /** \brief Method that returns the scalar values of the neighbors of a given 3D position in the grid.
497  * \param[in] index3d the point in the grid
498  * \param[out] leaf the set of values
499  */
500  void
501  getNeighborList1D (std::vector<float> &leaf,
502  Eigen::Vector3i &index3d);
503 
504  /** \brief Class get name method. */
505  std::string getClassName () const override { return ("MarchingCubes"); }
506 
507  /** \brief Extract the surface.
508  * \param[out] output the resultant polygonal mesh
509  */
510  void
511  performReconstruction (pcl::PolygonMesh &output) override;
512 
513  /** \brief Extract the surface.
514  * \param[out] points the points of the extracted mesh
515  * \param[out] polygons the connectivity between the point of the extracted mesh.
516  */
517  void
519  std::vector<pcl::Vertices> &polygons) override;
520 
521  public:
523  };
524 }
525 
526 #ifdef PCL_NO_PRECOMPILE
527 #include <pcl/surface/impl/marching_cubes.hpp>
528 #endif
void setPercentageExtendGrid(float percentage)
Method that sets the parameter that defines how much free space should be left inside the grid betwee...
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:414
Defines functions, macros and traits for allocating and using memory.
shared_ptr< const MarchingCubes< PointNT > > ConstPtr
typename KdTree::Ptr KdTreePtr
Eigen::Array3f size_voxel_
size of voxels
float iso_level_
The iso level to be extracted.
The marching cubes surface reconstruction algorithm.
void getGridResolution(int &res_x, int &res_y, int &res_z)
Method to get the marching cubes grid resolution.
SurfaceReconstruction represents a base surface reconstruction class.
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...
void getBoundingBox()
Get the bounding box for the input data points.
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.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:65
shared_ptr< KdTree< PointT > > Ptr
Definition: kdtree.h:70
std::string getClassName() const override
Class get name method.
void interpolateEdge(Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output)
Interpolate along the voxel edge.
virtual void voxelizeData()=0
Convert the point cloud into voxel data.
~MarchingCubes()
Destructor.
Eigen::Array3f upper_boundary_
bounding box
const unsigned int edgeTable[256]
void setIsoLevel(float iso_level)
Method that sets the iso level of the surface to be extracted.
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
void setGridResolution(int res_x, int res_y, int res_z)
Method that sets the marching cubes grid resolution.
Eigen::Array3f lower_boundary_
void performReconstruction(pcl::PolygonMesh &output) override
Extract the surface.
int res_x_
The grid resolution.
float percentage_extend_grid_
Parameter that defines how much free space should be left inside the grid between the bounding box of...
float getIsoLevel()
Method that returns the iso level of the surface to be extracted.
float getPercentageExtendGrid()
Method that gets the parameter that defines how much free space should be left inside the grid betwee...
shared_ptr< MarchingCubes< PointNT > > Ptr
std::vector< float > grid_
The data structure storing the 3D grid.
MarchingCubes(const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: memory.h:81
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:56
const int triTable[256][16]
Defines all the PCL and non-PCL macros used.
virtual float getGridValue(Eigen::Vector3i pos)
Method that returns the scalar value at the given grid position.