Point Cloud Library (PCL)  1.12.0-dev
marching_cubes_hoppe.hpp
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35 
36 #ifndef PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
37 #define PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
38 
39 #include <pcl/surface/marching_cubes_hoppe.h>
40 
41 //////////////////////////////////////////////////////////////////////////////////////////////
42 template <typename PointNT>
44 {
45 }
46 
47 
48 //////////////////////////////////////////////////////////////////////////////////////////////
49 template <typename PointNT> void
51 {
52  const bool is_far_ignored = dist_ignore_ > 0.0f;
53 
54  for (int x = 0; x < res_x_; ++x)
55  {
56  const int y_start = x * res_y_ * res_z_;
57 
58  for (int y = 0; y < res_y_; ++y)
59  {
60  const int z_start = y_start + y * res_z_;
61 
62  for (int z = 0; z < res_z_; ++z)
63  {
64  pcl::Indices nn_indices (1, 0);
65  std::vector<float> nn_sqr_dists (1, 0.0f);
66  const Eigen::Vector3f point = (lower_boundary_ + size_voxel_ * Eigen::Array3f (x, y, z)).matrix ();
67  PointNT p;
68 
69  p.getVector3fMap () = point;
70 
71  tree_->nearestKSearch (p, 1, nn_indices, nn_sqr_dists);
72 
73  if (!is_far_ignored || nn_sqr_dists[0] < dist_ignore_)
74  {
75  const Eigen::Vector3f normal = (*input_)[nn_indices[0]].getNormalVector3fMap ();
76 
77  if (!std::isnan (normal (0)) && normal.norm () > 0.5f)
78  grid_[z_start + z] = normal.dot (
79  point - (*input_)[nn_indices[0]].getVector3fMap ());
80  }
81  }
82  }
83  }
84 }
85 
86 
87 
88 #define PCL_INSTANTIATE_MarchingCubesHoppe(T) template class PCL_EXPORTS pcl::MarchingCubesHoppe<T>;
89 
90 #endif // PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
91 
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::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133