Point Cloud Library (PCL)  1.14.1-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  * \tparam PointNT Use `pcl::PointNormal` or `pcl::PointXYZRGBNormal` or `pcl::PointXYZINormal`
49  * \author Alexandru E. Ichim
50  * \ingroup surface
51  */
52  template <typename PointNT>
53  class MarchingCubesHoppe : public MarchingCubes<PointNT>
54  {
55  public:
56  using Ptr = shared_ptr<MarchingCubesHoppe<PointNT> >;
57  using ConstPtr = shared_ptr<const MarchingCubesHoppe<PointNT> >;
58 
68 
70 
72  using KdTreePtr = typename KdTree::Ptr;
73 
74 
75  /** \brief Constructor. */
76  MarchingCubesHoppe (const float dist_ignore = -1.0f,
77  const float percentage_extend_grid = 0.0f,
78  const float iso_level = 0.0f) :
79  MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
80  dist_ignore_ (dist_ignore)
81  {
82  }
83 
84  /** \brief Destructor. */
85  ~MarchingCubesHoppe () override;
86 
87  /** \brief Convert the point cloud into voxel data.
88  */
89  void
90  voxelizeData () override;
91 
92  /** \brief Method that sets the distance for ignoring voxels which are far from point cloud.
93  * If the distance is negative, then the distance functions would be calculated in all voxels;
94  * otherwise, only voxels with distance lower than dist_ignore would be involved in marching cube.
95  * \param[in] dist_ignore threshold of distance. Default value is -1.0. Set to negative if all voxels are
96  * to be involved.
97  */
98  inline void
99  setDistanceIgnore (const float dist_ignore)
100  { dist_ignore_ = dist_ignore; }
101 
102  /** \brief get the distance for ignoring voxels which are far from point cloud.
103  * */
104  inline float
106  { return dist_ignore_; }
107 
108  protected:
109  /** \brief ignore the distance function
110  * if it is negative
111  * or distance between voxel centroid and point are larger that it. */
113 
114  public:
116  };
117 }
118 
119 #ifdef PCL_NO_PRECOMPILE
120 #include <pcl/surface/impl/marching_cubes_hoppe.hpp>
121 #endif
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:56
shared_ptr< KdTree< PointT > > Ptr
Definition: kdtree.h:69
The marching cubes surface reconstruction algorithm, using a signed distance function based on the di...
float getDistanceIgnore() const
get the distance for ignoring voxels which are far from point cloud.
~MarchingCubesHoppe() override
Destructor.
MarchingCubesHoppe(const float dist_ignore=-1.0f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
Constructor.
void voxelizeData() override
Convert the point cloud into voxel data.
float dist_ignore_
ignore the distance function if it is negative or distance between voxel centroid and point are large...
void setDistanceIgnore(const float dist_ignore)
Method that sets the distance for ignoring voxels which are far from point cloud.
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
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.