Point Cloud Library (PCL)  1.12.0-dev
marching_cubes_hoppe.h
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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. */
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
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::MarchingCubesHoppe::getDistanceIgnore
float getDistanceIgnore() const
get the distance for ignoring voxels which are far from point cloud.
Definition: marching_cubes_hoppe.h:104
pcl::KdTree
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:54
pcl::MarchingCubesHoppe::MarchingCubesHoppe
MarchingCubesHoppe(const float dist_ignore=-1.0f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
Definition: marching_cubes_hoppe.h:75
pcl::MarchingCubes::Ptr
shared_ptr< MarchingCubes< PointNT > > Ptr
Definition: marching_cubes.h:366
pcl::MarchingCubes
The marching cubes surface reconstruction algorithm.
Definition: marching_cubes.h:363
pcl::SurfaceReconstruction
SurfaceReconstruction represents a base surface reconstruction class.
Definition: reconstruction.h:117
pcl::MarchingCubesHoppe::~MarchingCubesHoppe
~MarchingCubesHoppe()
Destructor.
Definition: marching_cubes_hoppe.hpp:43
pcl::MarchingCubesHoppe::voxelizeData
void voxelizeData() override
Convert the point cloud into voxel data.
Definition: marching_cubes_hoppe.hpp:50
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
pcl::MarchingCubes::ConstPtr
shared_ptr< const MarchingCubes< PointNT > > ConstPtr
Definition: marching_cubes.h:367
pcl::MarchingCubes::KdTreePtr
typename KdTree::Ptr KdTreePtr
Definition: marching_cubes.h:375
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::KdTree::Ptr
shared_ptr< KdTree< PointT > > Ptr
Definition: kdtree.h:68
pcl::MarchingCubesHoppe::dist_ignore_
float dist_ignore_
ignore the distance function if it is negative or distance between voxel centroid and point are large...
Definition: marching_cubes_hoppe.h:111
pcl::MarchingCubesHoppe
The marching cubes surface reconstruction algorithm, using a signed distance function based on the di...
Definition: marching_cubes_hoppe.h:52
pcl::MarchingCubesHoppe::setDistanceIgnore
void setDistanceIgnore(const float dist_ignore)
Method that sets the distance for ignoring voxels which are far from point cloud.
Definition: marching_cubes_hoppe.h:98
pcl::MarchingCubes::PointCloudPtr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
Definition: marching_cubes.h:372
memory.h
Defines functions, macros and traits for allocating and using memory.