Point Cloud Library (PCL)  1.13.0-dev
marching_cubes_hoppe.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  */
35 
36 #pragma once
37 
38 #include <pcl/memory.h>
39 #include <pcl/pcl_macros.h>
40 #include <pcl/surface/marching_cubes.h>
41 
42 namespace pcl
43 {
44  /** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on the distance
45  * from tangent planes, proposed by Hoppe et. al. in:
46  * Hoppe H., DeRose T., Duchamp T., MC-Donald J., Stuetzle W., "Surface reconstruction from unorganized points",
47  * SIGGRAPH '92
48  * \author Alexandru E. Ichim
49  * \ingroup surface
50  */
51  template <typename PointNT>
52  class MarchingCubesHoppe : public MarchingCubes<PointNT>
53  {
54  public:
55  using Ptr = shared_ptr<MarchingCubesHoppe<PointNT> >;
56  using ConstPtr = shared_ptr<const MarchingCubesHoppe<PointNT> >;
57 
67 
69 
71  using KdTreePtr = typename KdTree::Ptr;
72 
73 
74  /** \brief Constructor. */
75  MarchingCubesHoppe (const float dist_ignore = -1.0f,
76  const float percentage_extend_grid = 0.0f,
77  const float iso_level = 0.0f) :
78  MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
79  dist_ignore_ (dist_ignore)
80  {
81  }
82 
83  /** \brief Destructor. */
84  ~MarchingCubesHoppe () override;
85 
86  /** \brief Convert the point cloud into voxel data.
87  */
88  void
89  voxelizeData () override;
90 
91  /** \brief Method that sets the distance for ignoring voxels which are far from point cloud.
92  * If the distance is negative, then the distance functions would be calculated in all voxels;
93  * otherwise, only voxels with distance lower than dist_ignore would be involved in marching cube.
94  * \param[in] dist_ignore threshold of distance. Default value is -1.0. Set to negative if all voxels are
95  * to be involved.
96  */
97  inline void
98  setDistanceIgnore (const float dist_ignore)
99  { dist_ignore_ = dist_ignore; }
100 
101  /** \brief get the distance for ignoring voxels which are far from point cloud.
102  * */
103  inline float
105  { return dist_ignore_; }
106 
107  protected:
108  /** \brief ignore the distance function
109  * if it is negative
110  * or distance between voxel centroid and point are larger that it. */
112 
113  public:
115  };
116 }
117 
118 #ifdef PCL_NO_PRECOMPILE
119 #include <pcl/surface/impl/marching_cubes_hoppe.hpp>
120 #endif
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:55
shared_ptr< KdTree< PointT > > Ptr
Definition: kdtree.h:68
The marching cubes surface reconstruction algorithm, using a signed distance function based on the di...
float getDistanceIgnore() const
get the distance for ignoring voxels which are far from point cloud.
~MarchingCubesHoppe() override
Destructor.
MarchingCubesHoppe(const float dist_ignore=-1.0f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
void voxelizeData() override
Convert the point cloud into voxel data.
float dist_ignore_
ignore the distance function if it is negative or distance between voxel centroid and point are large...
void setDistanceIgnore(const float dist_ignore)
Method that sets the distance for ignoring voxels which are far from point cloud.
The marching cubes surface reconstruction algorithm.
typename KdTree::Ptr KdTreePtr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
shared_ptr< MarchingCubes< PointNT > > Ptr
shared_ptr< const MarchingCubes< PointNT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
SurfaceReconstruction represents a base surface reconstruction class.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.