Point Cloud Library (PCL)  1.12.1-dev
marching_cubes.h
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37 
38 #pragma once
39 
40 #include <pcl/memory.h>
41 #include <pcl/pcl_macros.h>
42 #include <pcl/gpu/containers/device_array.h>
43 #include <Eigen/Core>
44 
45 namespace pcl
46 {
47  namespace gpu
48  {
49  class TsdfVolume;
50 
51  /** \brief MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU
52  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
53  */
55  {
56  public:
57 
58  /** \brief Default size for triangles buffer */
59  enum
60  {
61  POINTS_PER_TRIANGLE = 3,
62  DEFAULT_TRIANGLES_BUFFER_SIZE = 2 * 1000 * 1000 * POINTS_PER_TRIANGLE
63  };
64 
65  /** \brief Point type. */
67 
68  /** \brief Smart pointer. */
69  using Ptr = shared_ptr<MarchingCubes>;
70  using ConstPtr = shared_ptr<const MarchingCubes>;
71 
72  /** \brief Default constructor */
74 
75  /** \brief Runs marching cubes triangulation.
76  * \param[in] tsdf
77  * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size to be used.
78  * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
79  */
81  run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
82 
83  private:
84  /** \brief Edge table for marching cubes */
85  DeviceArray<int> edgeTable_;
86 
87  /** \brief Number of vertices table for marching cubes */
88  DeviceArray<int> numVertsTable_;
89 
90  /** \brief Triangles table for marching cubes */
91  DeviceArray<int> triTable_;
92 
93  /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
94  DeviceArray2D<int> occupied_voxels_buffer_;
95  };
96  }
97 }
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU.
DeviceArray< PointType > run(const TsdfVolume &tsdf, DeviceArray< PointType > &triangles_buffer)
Runs marching cubes triangulation.
MarchingCubes()
Default constructor.
shared_ptr< MarchingCubes > Ptr
Smart pointer.
shared_ptr< const MarchingCubes > ConstPtr
TsdfVolume class.
Definition: tsdf_volume.h:56
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
A point structure representing Euclidean xyz coordinates.