Point Cloud Library (PCL)  1.12.1-dev
marching_cubes_rbf.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 radial
45  * basis functions. Partially based on:
46  * Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
47  * "Reconstruction and representation of 3D objects with radial basis functions"
48  * SIGGRAPH '01
49  *
50  * \note This algorithm in its current implementation may not be suitable for very
51  * large point clouds, due to high memory requirements.
52  * \author Alexandru E. Ichim
53  * \ingroup surface
54  */
55  template <typename PointNT>
56  class MarchingCubesRBF : public MarchingCubes<PointNT>
57  {
58  public:
59  using Ptr = shared_ptr<MarchingCubesRBF<PointNT> >;
60  using ConstPtr = shared_ptr<const MarchingCubesRBF<PointNT> >;
61 
71 
73 
75  using KdTreePtr = typename KdTree::Ptr;
76 
77 
78  /** \brief Constructor. */
79  MarchingCubesRBF (const float off_surface_epsilon = 0.1f,
80  const float percentage_extend_grid = 0.0f,
81  const float iso_level = 0.0f) :
82  MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
83  off_surface_epsilon_ (off_surface_epsilon)
84  {
85  }
86 
87  /** \brief Destructor. */
88  ~MarchingCubesRBF () override;
89 
90  /** \brief Convert the point cloud into voxel data.
91  */
92  void
93  voxelizeData () override;
94 
95 
96  /** \brief Set the off-surface points displacement value.
97  * \param[in] epsilon the value
98  */
99  inline void
101  { off_surface_epsilon_ = epsilon; }
102 
103  /** \brief Get the off-surface points displacement value. */
104  inline float
106  { return off_surface_epsilon_; }
107 
108 
109  protected:
110  /** \brief the Radial Basis Function kernel. */
111  double
112  kernel (Eigen::Vector3d c, Eigen::Vector3d x);
113 
114  /** \brief The off-surface displacement value. */
116 
117  public:
119  };
120 }
121 
122 #ifdef PCL_NO_PRECOMPILE
123 #include <pcl/surface/impl/marching_cubes_rbf.hpp>
124 #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.
typename KdTree::Ptr KdTreePtr
typename pcl::PointCloud< PointNT >::Ptr PointCloudPtr
shared_ptr< MarchingCubes< PointNT > > Ptr
shared_ptr< const MarchingCubes< PointNT > > ConstPtr
The marching cubes surface reconstruction algorithm, using a signed distance function based on radial...
float getOffSurfaceDisplacement()
Get the off-surface points displacement value.
void setOffSurfaceDisplacement(float epsilon)
Set the off-surface points displacement value.
float off_surface_epsilon_
The off-surface displacement value.
void voxelizeData() override
Convert the point cloud into voxel data.
MarchingCubesRBF(const float off_surface_epsilon=0.1f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
double kernel(Eigen::Vector3d c, Eigen::Vector3d x)
the Radial Basis Function kernel.
~MarchingCubesRBF() override
Destructor.
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.