The Standalone Marching Cubes Class provides encapsulated functionality for the Marching Cubes implementation originally by Anatoly Baksheev. More...

#include </__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h>

Public Types
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	MeshPtr = pcl::PolygonMesh::Ptr

Public Member Functions
	StandaloneMarchingCubes (int voxels_x=512, int voxels_y=512, int voxels_z=512, float volume_size=3.0f)
	Constructor More...

MeshPtr	getMeshFromTSDFCloud (const PointCloud &cloud)
	Run marching cubes in a TSDF cloud and returns a PolygonMesh. More...

void	getMeshesFromTSDFVector (const std::vector< PointCloudPtr > &tsdf_clouds, const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &tsdf_offsets)
	Runs marching cubes on every pointcloud in the vector. More...

TsdfVolume::Ptr	tsdfVolumeGPU ()
	Returns the associated Tsdf Volume buffer in GPU. More...

std::vector< int > &	tsdfVolumeCPU ()
	Returns the associated Tsdf Volume buffer in CPU. More...

Protected Member Functions
void	loadTsdfCloudToGPU (const PointCloud &cloud)
	Loads a TSDF Cloud to the TSDF Volume in GPU. More...

void	convertTsdfVectors (const PointCloud &cloud, std::vector< int > &output)
	Read the data in the point cloud. More...

MeshPtr	convertTrianglesToMesh (const pcl::gpu::DeviceArray< pcl::PointXYZ > &triangles)
	Converts the triangles buffer device to a PolygonMesh. More...

MeshPtr	runMarchingCubes ()
	Runs marching cubes on the data that is contained in the TSDF Volume in GPU. More...

Detailed Description

template<typename PointT>
class pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >

The Standalone Marching Cubes Class provides encapsulated functionality for the Marching Cubes implementation originally by Anatoly Baksheev.

Author: Raphael Favier; Francisco Heredia

Definition at line 77 of file standalone_marching_cubes.h.

Member Typedef Documentation

◆ MeshPtr

template<typename PointT >

using pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::MeshPtr = pcl::PolygonMesh::Ptr

Definition at line 82 of file standalone_marching_cubes.h.

◆ PointCloud

template<typename PointT >

using pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 80 of file standalone_marching_cubes.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 81 of file standalone_marching_cubes.h.

Constructor & Destructor Documentation

◆ StandaloneMarchingCubes()

template<typename PointT >

pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::StandaloneMarchingCubes	(	int	voxels_x = `512`,
		int	voxels_y = `512`,
		int	voxels_z = `512`,
		float	volume_size = `3.0f`
	)

Constructor

Creating GPU TSDF Volume instance

Creating CPU TSDF Volume instance

Definition at line 46 of file standalone_marching_cubes.hpp.

Member Function Documentation

◆ convertTrianglesToMesh()

template<typename PointT >

pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::MeshPtr pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::convertTrianglesToMesh ( const pcl::gpu::DeviceArray< pcl::PointXYZ > & triangles )

protected

Converts the triangles buffer device to a PolygonMesh.

Parameters

[in] triangles the triangles buffer containing the points of the mesh

Returns: pointer to the PolygonMesh egnerated by marchign cubes

Definition at line 218 of file standalone_marching_cubes.hpp.

References pcl::gpu::DeviceArray< T >::download(), pcl::gpu::DeviceMemory::empty(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::gpu::DeviceArray< T >::size(), pcl::toPCLPointCloud2(), pcl::Vertices::vertices, and pcl::PointCloud< PointT >::width.

◆ convertTsdfVectors()

template<typename PointT >

void pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::convertTsdfVectors	(	const PointCloud &	cloud,
		std::vector< int > &	output
	)

protected

Read the data in the point cloud.

Performs a conversion to a suitable format for the TSDF Volume. Loads the converted data to the output vector.

Parameters

[in]	cloud	point cloud to be converted
[out]	output	the vector of converted values, ready to be loaded to the GPU.

For every point in the cloud

Calculate the index to write to

Definition at line 189 of file standalone_marching_cubes.hpp.

References pcl::PointCloud< PointT >::size().

◆ getMeshesFromTSDFVector()

template<typename PointT >

void pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::getMeshesFromTSDFVector	(	const std::vector< PointCloudPtr > &	tsdf_clouds,
		const std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &	tsdf_offsets
	)

Runs marching cubes on every pointcloud in the vector.

Returns a vector containing the PolygonMeshes.

Parameters

[in]	tsdf_clouds	Vector of TSDF Clouds
[in]	tsdf_offsets	Vector of the offsets for every pointcloud in TsdfClouds. This offset (in indices) indicates the position of the cloud with respect to the absolute origin of the world model

Definition at line 94 of file standalone_marching_cubes.hpp.

References pcl::fromPCLPointCloud2(), pcl::io::savePLYFile(), pcl::toPCLPointCloud2(), and pcl::transformPointCloud().

◆ getMeshFromTSDFCloud()

template<typename PointT >

pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::MeshPtr pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::getMeshFromTSDFCloud ( const PointCloud & cloud )

Run marching cubes in a TSDF cloud and returns a PolygonMesh.

Input X,Y,Z coordinates must be in indices of the TSDF volume grid, output is in meters.

Parameters

[in] cloud TSDF cloud with indices between [0 ... VOXELS_X][0 ... VOXELS_Y][0 ... VOXELS_Z]. Intensity value corresponds to the TSDF value in that coordinate.

Returns: pointer to a PolygonMesh in meters generated by marching cubes.

Definition at line 70 of file standalone_marching_cubes.hpp.

◆ loadTsdfCloudToGPU()

template<typename PointT >

void pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::loadTsdfCloudToGPU ( const PointCloud & cloud )

protected

Loads a TSDF Cloud to the TSDF Volume in GPU.

Parameters

[in] cloud TSDF cloud that will be loaded. X,Y,Z of the cloud will only be loaded if their range is between [0 ... VOXELS_X][0 ... VOXELS_Y][0 ... VOXELS_Z]

Definition at line 176 of file standalone_marching_cubes.hpp.

◆ runMarchingCubes()

template<typename PointT >

pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::MeshPtr pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::runMarchingCubes

protected

Runs marching cubes on the data that is contained in the TSDF Volume in GPU.

Returns: param[return] pointer to a PolygonMesh in meters generated by marching cubes.

Definition at line 249 of file standalone_marching_cubes.hpp.

References pcl::fromPCLPointCloud2().

◆ tsdfVolumeCPU()

template<typename PointT >

std::vector< int > & pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::tsdfVolumeCPU

Returns the associated Tsdf Volume buffer in CPU.

Returns: the Tsdf Volume buffer in CPU returned returned by reference

Definition at line 168 of file standalone_marching_cubes.hpp.

◆ tsdfVolumeGPU()

template<typename PointT >

pcl::gpu::kinfuLS::TsdfVolume::Ptr pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >::tsdfVolumeGPU

Returns the associated Tsdf Volume buffer in GPU.

Returns: pointer to the Tsdf Volume buffer in GPU

Definition at line 160 of file standalone_marching_cubes.hpp.

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

/__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h
/__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/standalone_marching_cubes.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<typename PointT> class pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >

Member Typedef Documentation

◆ MeshPtr

◆ PointCloud

◆ PointCloudPtr

Constructor & Destructor Documentation

◆ StandaloneMarchingCubes()

Member Function Documentation

◆ convertTrianglesToMesh()

◆ convertTsdfVectors()

◆ getMeshesFromTSDFVector()

◆ getMeshFromTSDFCloud()

◆ loadTsdfCloudToGPU()

◆ runMarchingCubes()

◆ tsdfVolumeCPU()

◆ tsdfVolumeGPU()

template<typename PointT>
class pcl::gpu::kinfuLS::StandaloneMarchingCubes< PointT >