Point Cloud Library (PCL)  1.12.1-dev
marching_cubes.hpp
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35 
36 #ifndef PCL_SURFACE_IMPL_MARCHING_CUBES_H_
37 #define PCL_SURFACE_IMPL_MARCHING_CUBES_H_
38 
39 #include <pcl/surface/marching_cubes.h>
40 #include <pcl/common/common.h>
41 #include <pcl/common/vector_average.h>
42 #include <pcl/Vertices.h>
43 
44 //////////////////////////////////////////////////////////////////////////////////////////////
45 template <typename PointNT>
47 
48 //////////////////////////////////////////////////////////////////////////////////////////////
49 template <typename PointNT> void
51 {
52  PointNT max_pt, min_pt;
53  pcl::getMinMax3D (*input_, min_pt, max_pt);
54 
55  lower_boundary_ = min_pt.getArray3fMap ();
56  upper_boundary_ = max_pt.getArray3fMap ();
57 
58  const Eigen::Array3f size3_extend = 0.5f * percentage_extend_grid_
59  * (upper_boundary_ - lower_boundary_);
60 
61  lower_boundary_ -= size3_extend;
62  upper_boundary_ += size3_extend;
63 }
64 
65 
66 //////////////////////////////////////////////////////////////////////////////////////////////
67 template <typename PointNT> void
69  Eigen::Vector3f &p2,
70  float val_p1,
71  float val_p2,
72  Eigen::Vector3f &output)
73 {
74  const float mu = (iso_level_ - val_p1) / (val_p2 - val_p1);
75  output = p1 + mu * (p2 - p1);
76 }
77 
78 
79 //////////////////////////////////////////////////////////////////////////////////////////////
80 template <typename PointNT> void
81 pcl::MarchingCubes<PointNT>::createSurface (const std::vector<float> &leaf_node,
82  const Eigen::Vector3i &index_3d,
84 {
85  int cubeindex = 0;
86  if (leaf_node[0] < iso_level_) cubeindex |= 1;
87  if (leaf_node[1] < iso_level_) cubeindex |= 2;
88  if (leaf_node[2] < iso_level_) cubeindex |= 4;
89  if (leaf_node[3] < iso_level_) cubeindex |= 8;
90  if (leaf_node[4] < iso_level_) cubeindex |= 16;
91  if (leaf_node[5] < iso_level_) cubeindex |= 32;
92  if (leaf_node[6] < iso_level_) cubeindex |= 64;
93  if (leaf_node[7] < iso_level_) cubeindex |= 128;
94 
95  // Cube is entirely in/out of the surface
96  if (edgeTable[cubeindex] == 0)
97  return;
98 
99  const Eigen::Vector3f center = lower_boundary_
100  + size_voxel_ * index_3d.cast<float> ().array ();
101 
102  std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > p;
103  p.resize (8);
104  for (int i = 0; i < 8; ++i)
105  {
106  Eigen::Vector3f point = center;
107  if (i & 0x4)
108  point[1] = static_cast<float> (center[1] + size_voxel_[1]);
109 
110  if (i & 0x2)
111  point[2] = static_cast<float> (center[2] + size_voxel_[2]);
112 
113  if ((i & 0x1) ^ ((i >> 1) & 0x1))
114  point[0] = static_cast<float> (center[0] + size_voxel_[0]);
115 
116  p[i] = point;
117  }
118 
119  // Find the vertices where the surface intersects the cube
120  std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > vertex_list;
121  vertex_list.resize (12);
122  if (edgeTable[cubeindex] & 1)
123  interpolateEdge (p[0], p[1], leaf_node[0], leaf_node[1], vertex_list[0]);
124  if (edgeTable[cubeindex] & 2)
125  interpolateEdge (p[1], p[2], leaf_node[1], leaf_node[2], vertex_list[1]);
126  if (edgeTable[cubeindex] & 4)
127  interpolateEdge (p[2], p[3], leaf_node[2], leaf_node[3], vertex_list[2]);
128  if (edgeTable[cubeindex] & 8)
129  interpolateEdge (p[3], p[0], leaf_node[3], leaf_node[0], vertex_list[3]);
130  if (edgeTable[cubeindex] & 16)
131  interpolateEdge (p[4], p[5], leaf_node[4], leaf_node[5], vertex_list[4]);
132  if (edgeTable[cubeindex] & 32)
133  interpolateEdge (p[5], p[6], leaf_node[5], leaf_node[6], vertex_list[5]);
134  if (edgeTable[cubeindex] & 64)
135  interpolateEdge (p[6], p[7], leaf_node[6], leaf_node[7], vertex_list[6]);
136  if (edgeTable[cubeindex] & 128)
137  interpolateEdge (p[7], p[4], leaf_node[7], leaf_node[4], vertex_list[7]);
138  if (edgeTable[cubeindex] & 256)
139  interpolateEdge (p[0], p[4], leaf_node[0], leaf_node[4], vertex_list[8]);
140  if (edgeTable[cubeindex] & 512)
141  interpolateEdge (p[1], p[5], leaf_node[1], leaf_node[5], vertex_list[9]);
142  if (edgeTable[cubeindex] & 1024)
143  interpolateEdge (p[2], p[6], leaf_node[2], leaf_node[6], vertex_list[10]);
144  if (edgeTable[cubeindex] & 2048)
145  interpolateEdge (p[3], p[7], leaf_node[3], leaf_node[7], vertex_list[11]);
146 
147  // Create the triangle
148  for (int i = 0; triTable[cubeindex][i] != -1; i += 3)
149  {
150  PointNT p1, p2, p3;
151  p1.getVector3fMap () = vertex_list[triTable[cubeindex][i]];
152  cloud.push_back (p1);
153  p2.getVector3fMap () = vertex_list[triTable[cubeindex][i+1]];
154  cloud.push_back (p2);
155  p3.getVector3fMap () = vertex_list[triTable[cubeindex][i+2]];
156  cloud.push_back (p3);
157  }
158 }
159 
160 
161 //////////////////////////////////////////////////////////////////////////////////////////////
162 template <typename PointNT> void
164  Eigen::Vector3i &index3d)
165 {
166  leaf.resize (8);
167 
168  leaf[0] = getGridValue (index3d);
169  leaf[1] = getGridValue (index3d + Eigen::Vector3i (1, 0, 0));
170  leaf[2] = getGridValue (index3d + Eigen::Vector3i (1, 0, 1));
171  leaf[3] = getGridValue (index3d + Eigen::Vector3i (0, 0, 1));
172  leaf[4] = getGridValue (index3d + Eigen::Vector3i (0, 1, 0));
173  leaf[5] = getGridValue (index3d + Eigen::Vector3i (1, 1, 0));
174  leaf[6] = getGridValue (index3d + Eigen::Vector3i (1, 1, 1));
175  leaf[7] = getGridValue (index3d + Eigen::Vector3i (0, 1, 1));
176 
177  for (int i = 0; i < 8; ++i)
178  {
179  if (std::isnan (leaf[i]))
180  {
181  leaf.clear ();
182  break;
183  }
184  }
185 }
186 
187 
188 //////////////////////////////////////////////////////////////////////////////////////////////
189 template <typename PointNT> float
191 {
192  /// TODO what to return?
193  if (pos[0] < 0 || pos[0] >= res_x_)
194  return -1.0f;
195  if (pos[1] < 0 || pos[1] >= res_y_)
196  return -1.0f;
197  if (pos[2] < 0 || pos[2] >= res_z_)
198  return -1.0f;
199 
200  return grid_[pos[0]*res_y_*res_z_ + pos[1]*res_z_ + pos[2]];
201 }
202 
203 
204 //////////////////////////////////////////////////////////////////////////////////////////////
205 template <typename PointNT> void
207 {
209 
210  performReconstruction (points, output.polygons);
211 
212  pcl::toPCLPointCloud2 (points, output.cloud);
213 }
214 
215 
216 //////////////////////////////////////////////////////////////////////////////////////////////
217 template <typename PointNT> void
219  std::vector<pcl::Vertices> &polygons)
220 {
221  if (!(iso_level_ >= 0 && iso_level_ < 1))
222  {
223  PCL_ERROR ("[pcl::%s::performReconstruction] Invalid iso level %f! Please use a number between 0 and 1.\n",
224  getClassName ().c_str (), iso_level_);
225  points.clear ();
226  polygons.clear ();
227  return;
228  }
229 
230  // the point cloud really generated from Marching Cubes, prev intermediate_cloud_
231  pcl::PointCloud<PointNT> intermediate_cloud;
232 
233  // Create grid
234  grid_ = std::vector<float> (res_x_*res_y_*res_z_, NAN);
235 
236  // Compute bounding box and voxel size
237  getBoundingBox ();
238  size_voxel_ = (upper_boundary_ - lower_boundary_)
239  * Eigen::Array3f (res_x_, res_y_, res_z_).inverse ();
240 
241  // Transform the point cloud into a voxel grid
242  // This needs to be implemented in a child class
243  voxelizeData ();
244 
245  // preallocate memory assuming a hull. suppose 6 point per voxel
246  double size_reserve = std::min((double) intermediate_cloud.points.max_size (),
247  2.0 * 6.0 * (double) (res_y_*res_z_ + res_x_*res_z_ + res_x_*res_y_));
248  intermediate_cloud.reserve ((std::size_t) size_reserve);
249 
250  for (int x = 1; x < res_x_-1; ++x)
251  for (int y = 1; y < res_y_-1; ++y)
252  for (int z = 1; z < res_z_-1; ++z)
253  {
254  Eigen::Vector3i index_3d (x, y, z);
255  std::vector<float> leaf_node;
256  getNeighborList1D (leaf_node, index_3d);
257  if (!leaf_node.empty ())
258  createSurface (leaf_node, index_3d, intermediate_cloud);
259  }
260 
261  points.swap (intermediate_cloud);
262 
263  polygons.resize (points.size () / 3);
264  for (std::size_t i = 0; i < polygons.size (); ++i)
265  {
266  pcl::Vertices v;
267  v.vertices.resize (3);
268  for (int j = 0; j < 3; ++j)
269  v.vertices[j] = static_cast<int> (i) * 3 + j;
270  polygons[i] = v;
271  }
272 }
273 
274 #define PCL_INSTANTIATE_MarchingCubes(T) template class PCL_EXPORTS pcl::MarchingCubes<T>;
275 
276 #endif // PCL_SURFACE_IMPL_MARCHING_CUBES_H_
277 
void performReconstruction(pcl::PolygonMesh &output) override
Extract the surface.
virtual float getGridValue(Eigen::Vector3i pos)
Method that returns the scalar value at the given grid position.
void getBoundingBox()
Get the bounding box for the input data points.
void interpolateEdge(Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output)
Interpolate along the voxel edge.
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.
~MarchingCubes() override
Destructor.
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 push_back(const PointT &pt)
Insert a new point in the cloud, at the end of the container.
Definition: point_cloud.h:663
void clear()
Removes all points in a cloud and sets the width and height to 0.
Definition: point_cloud.h:885
std::size_t size() const
Definition: point_cloud.h:443
void reserve(std::size_t n)
Definition: point_cloud.h:445
void swap(PointCloud< PointT > &rhs)
Swap a point cloud with another cloud.
Definition: point_cloud.h:872
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition: point_cloud.h:395
Define standard C methods and C++ classes that are common to all methods.
void getMinMax3D(const pcl::PointCloud< PointT > &cloud, PointT &min_pt, PointT &max_pt)
Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud.
Definition: common.hpp:295
void toPCLPointCloud2(const pcl::PointCloud< PointT > &cloud, pcl::PCLPointCloud2 &msg)
Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
Definition: conversions.h:240
const unsigned int edgeTable[256]
const int triTable[256][16]
std::vector< ::pcl::Vertices > polygons
Definition: PolygonMesh.h:22
::pcl::PCLPointCloud2 cloud
Definition: PolygonMesh.h:20
Describes a set of vertices in a polygon mesh, by basically storing an array of indices.
Definition: Vertices.h:15
Indices vertices
Definition: Vertices.h:18