Point Cloud Library (PCL)  1.12.1-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 template <typename PointNT> void
49 {
50  const bool is_far_ignored = dist_ignore_ > 0.0f;
51 
52  for (int x = 0; x < res_x_; ++x)
53  {
54  const int y_start = x * res_y_ * res_z_;
55 
56  for (int y = 0; y < res_y_; ++y)
57  {
58  const int z_start = y_start + y * res_z_;
59 
60  for (int z = 0; z < res_z_; ++z)
61  {
62  pcl::Indices nn_indices (1, 0);
63  std::vector<float> nn_sqr_dists (1, 0.0f);
64  const Eigen::Vector3f point = (lower_boundary_ + size_voxel_ * Eigen::Array3f (x, y, z)).matrix ();
65  PointNT p;
66 
67  p.getVector3fMap () = point;
68 
69  tree_->nearestKSearch (p, 1, nn_indices, nn_sqr_dists);
70 
71  if (!is_far_ignored || nn_sqr_dists[0] < dist_ignore_)
72  {
73  const Eigen::Vector3f normal = (*input_)[nn_indices[0]].getNormalVector3fMap ();
74 
75  if (!std::isnan (normal (0)) && normal.norm () > 0.5f)
76  grid_[z_start + z] = normal.dot (
77  point - (*input_)[nn_indices[0]].getVector3fMap ());
78  }
79  }
80  }
81  }
82 }
83 
84 
85 
86 #define PCL_INSTANTIATE_MarchingCubesHoppe(T) template class PCL_EXPORTS pcl::MarchingCubesHoppe<T>;
87 
88 #endif // PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
89 
~MarchingCubesHoppe() override
Destructor.
void voxelizeData() override
Convert the point cloud into voxel data.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133