Point Cloud Library (PCL)  1.11.1-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 //#include <boost/graph/buffer_concepts.hpp>
45 
46 
47 namespace pcl
48 {
49  namespace gpu
50  {
51  namespace kinfuLS
52  {
53  class TsdfVolume;
54 
55  /** \brief MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU
56  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
57  */
59  {
60  public:
61 
62  /** \brief Default size for triangles buffer */
63  enum
64  {
65  POINTS_PER_TRIANGLE = 3,
66  DEFAULT_TRIANGLES_BUFFER_SIZE = 2 * 1000 * 1000 * POINTS_PER_TRIANGLE * 2
67  };
68 
69  /** \brief Point type. */
71 
72  /** \brief Smart pointer. */
73  using Ptr = shared_ptr<MarchingCubes>;
74  using ConstPtr = shared_ptr<const MarchingCubes>;
75 
76  /** \brief Default constructor */
77  MarchingCubes();
78 
79  /** \brief Destructor */
80  ~MarchingCubes();
81 
82  /** \brief Runs marching cubes triangulation.
83  * \param[in] tsdf
84  * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size will be used.
85  * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
86  */
88  run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
89 
90  private:
91  /** \brief Edge table for marching cubes */
92  DeviceArray<int> edgeTable_;
93 
94  /** \brief Number of vertices table for marching cubes */
95  DeviceArray<int> numVertsTable_;
96 
97  /** \brief Triangles table for marching cubes */
98  DeviceArray<int> triTable_;
99 
100  /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
101  DeviceArray2D<int> occupied_voxels_buffer_;
102  };
103  }
104  }
105 }
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::gpu::DeviceArray2D< int >
pcl::gpu::kinfuLS::MarchingCubes::ConstPtr
shared_ptr< const MarchingCubes > ConstPtr
Definition: marching_cubes.h:74
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition: point_types.hpp:300
pcl::gpu::DeviceArray< PointType >
pcl::gpu::kinfuLS::TsdfVolume
TsdfVolume class.
Definition: tsdf_volume.h:62
pcl::gpu::kinfuLS::MarchingCubes::Ptr
shared_ptr< MarchingCubes > Ptr
Smart pointer.
Definition: marching_cubes.h:73
pcl::gpu::kinfuLS::MarchingCubes
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU.
Definition: marching_cubes.h:58
memory.h
Defines functions, macros and traits for allocating and using memory.
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:337