Point Cloud Library (PCL)  1.14.1-dev
marching_cubes_rbf.hpp
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38 
39 #ifndef PCL_SURFACE_IMPL_MARCHING_CUBES_RBF_H_
40 #define PCL_SURFACE_IMPL_MARCHING_CUBES_RBF_H_
41 
42 #include <pcl/surface/marching_cubes_rbf.h>
43 
44 //////////////////////////////////////////////////////////////////////////////////////////////
45 template <typename PointNT>
47 
48 //////////////////////////////////////////////////////////////////////////////////////////////
49 template <typename PointNT> void
51 {
52  // Initialize data structures
53  const auto N = static_cast<unsigned int> (input_->size ());
54  Eigen::MatrixXd M (2*N, 2*N),
55  d (2*N, 1);
56 
57  for (unsigned int row_i = 0; row_i < 2*N; ++row_i)
58  {
59  // boolean variable to determine whether we are in the off_surface domain for the rows
60  bool row_off = (row_i >= N);
61  for (unsigned int col_i = 0; col_i < 2*N; ++col_i)
62  {
63  // boolean variable to determine whether we are in the off_surface domain for the columns
64  bool col_off = (col_i >= N);
65  M (row_i, col_i) = kernel (Eigen::Vector3f ((*input_)[col_i%N].getVector3fMap ()).cast<double> () + Eigen::Vector3f ((*input_)[col_i%N].getNormalVector3fMap ()).cast<double> () * col_off * off_surface_epsilon_,
66  Eigen::Vector3f ((*input_)[row_i%N].getVector3fMap ()).cast<double> () + Eigen::Vector3f ((*input_)[row_i%N].getNormalVector3fMap ()).cast<double> () * row_off * off_surface_epsilon_);
67  }
68 
69  d (row_i, 0) = row_off * off_surface_epsilon_;
70  }
71 
72  // Solve for the weights
73  Eigen::MatrixXd w (2*N, 1);
74 
75  // Solve_linear_system (M, d, w);
76  w = M.fullPivLu ().solve (d);
77 
78  std::vector<double> weights (2*N);
79  std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > centers (2*N);
80  for (unsigned int i = 0; i < N; ++i)
81  {
82  centers[i] = Eigen::Vector3f ((*input_)[i].getVector3fMap ()).cast<double> ();
83  centers[i + N] = Eigen::Vector3f ((*input_)[i].getVector3fMap ()).cast<double> () + Eigen::Vector3f ((*input_)[i].getNormalVector3fMap ()).cast<double> () * off_surface_epsilon_;
84  weights[i] = w (i, 0);
85  weights[i + N] = w (i + N, 0);
86  }
87 
88  for (int x = 0; x < res_x_; ++x)
89  for (int y = 0; y < res_y_; ++y)
90  for (int z = 0; z < res_z_; ++z)
91  {
92  const Eigen::Vector3f point_f = (size_voxel_ * Eigen::Array3f (x, y, z)
93  + lower_boundary_).matrix ();
94  const Eigen::Vector3d point = point_f.cast<double> ();
95 
96  double f = 0.0;
97  std::vector<double>::const_iterator w_it (weights.begin());
98  for (std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> >::const_iterator c_it = centers.begin ();
99  c_it != centers.end (); ++c_it, ++w_it)
100  f += *w_it * kernel (*c_it, point);
101 
102  grid_[x * res_y_*res_z_ + y * res_z_ + z] = static_cast<float>(f);
103  }
104 }
105 
106 //////////////////////////////////////////////////////////////////////////////////////////////
107 template <typename PointNT> double
108 pcl::MarchingCubesRBF<PointNT>::kernel (Eigen::Vector3d c, Eigen::Vector3d x)
109 {
110  double r = (x - c).norm ();
111  return (r * r * r);
112 }
113 
114 #define PCL_INSTANTIATE_MarchingCubesRBF(T) template class PCL_EXPORTS pcl::MarchingCubesRBF<T>;
115 
116 #endif // PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
117 
void voxelizeData() override
Convert the point cloud into voxel data.
double kernel(Eigen::Vector3d c, Eigen::Vector3d x)
the Radial Basis Function kernel.
~MarchingCubesRBF() override
Destructor.