Point Cloud Library (PCL)
1.7.1
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The marching cubes surface reconstruction algorithm. More...
#include <pcl/surface/marching_cubes.h>
Public Types | |
typedef boost::shared_ptr < MarchingCubes< PointNT > > | Ptr |
typedef boost::shared_ptr < const MarchingCubes< PointNT > > | ConstPtr |
typedef pcl::PointCloud < PointNT >::Ptr | PointCloudPtr |
typedef pcl::KdTree< PointNT > | KdTree |
typedef pcl::KdTree< PointNT >::Ptr | KdTreePtr |
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typedef boost::shared_ptr < SurfaceReconstruction < PointNT > > | Ptr |
typedef boost::shared_ptr < const SurfaceReconstruction < PointNT > > | ConstPtr |
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typedef boost::shared_ptr < PCLSurfaceBase< PointNT > > | Ptr |
typedef boost::shared_ptr < const PCLSurfaceBase < PointNT > > | ConstPtr |
typedef pcl::search::Search < PointNT > | KdTree |
typedef pcl::search::Search < PointNT >::Ptr | KdTreePtr |
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typedef pcl::PointCloud< PointNT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
MarchingCubes () | |
Constructor. More... | |
virtual | ~MarchingCubes () |
Destructor. More... | |
void | setIsoLevel (float iso_level) |
Method that sets the iso level of the surface to be extracted. More... | |
float | getIsoLevel () |
Method that returns the iso level of the surface to be extracted. More... | |
void | setGridResolution (int res_x, int res_y, int res_z) |
Method that sets the marching cubes grid resolution. More... | |
void | getGridResolution (int &res_x, int &res_y, int &res_z) |
Method to get the marching cubes grid resolution. More... | |
void | setPercentageExtendGrid (float percentage) |
Method that sets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits. More... | |
float | getPercentageExtendGrid () |
Method that gets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box. More... | |
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SurfaceReconstruction () | |
Constructor. More... | |
virtual | ~SurfaceReconstruction () |
Destructor. More... | |
virtual void | reconstruct (pcl::PolygonMesh &output) |
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More... | |
virtual void | reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) |
Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More... | |
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PCLSurfaceBase () | |
Empty constructor. More... | |
virtual | ~PCLSurfaceBase () |
Empty destructor. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide an optional pointer to a search object. More... | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointNT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
virtual void | voxelizeData ()=0 |
Convert the point cloud into voxel data. More... | |
void | interpolateEdge (Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output) |
Interpolate along the voxel edge. More... | |
void | createSurface (std::vector< float > &leaf_node, Eigen::Vector3i &index_3d, pcl::PointCloud< PointNT > &cloud) |
Calculate out the corresponding polygons in the leaf node. More... | |
void | getBoundingBox () |
Get the bounding box for the input data points. More... | |
virtual float | getGridValue (Eigen::Vector3i pos) |
Method that returns the scalar value at the given grid position. More... | |
void | getNeighborList1D (std::vector< float > &leaf, Eigen::Vector3i &index3d) |
Method that returns the scalar values of the neighbors of a given 3D position in the grid. More... | |
std::string | getClassName () const |
Class get name method. More... | |
virtual void | performReconstruction (pcl::PolygonMesh &output) |
Extract the surface. More... | |
virtual void | performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) |
Extract the surface. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
std::vector< float > | grid_ |
The data structure storing the 3D grid. More... | |
int | res_x_ |
The grid resolution. More... | |
int | res_y_ |
int | res_z_ |
Eigen::Vector4f | min_p_ |
Min and max data points. More... | |
Eigen::Vector4f | max_p_ |
float | percentage_extend_grid_ |
Parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box. More... | |
float | iso_level_ |
The iso level to be extracted. More... | |
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bool | check_tree_ |
A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More... | |
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KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
The marching cubes surface reconstruction algorithm.
This is an abstract class that takes a grid and extracts the isosurface as a mesh, based on the original marching cubes paper:
Lorensen W.E., Cline H.E., "Marching cubes: A high resolution 3d surface construction algorithm", SIGGRAPH '87
Definition at line 363 of file marching_cubes.h.
typedef boost::shared_ptr<const MarchingCubes<PointNT> > pcl::MarchingCubes< PointNT >::ConstPtr |
Definition at line 367 of file marching_cubes.h.
typedef pcl::KdTree<PointNT> pcl::MarchingCubes< PointNT >::KdTree |
Definition at line 374 of file marching_cubes.h.
typedef pcl::KdTree<PointNT>::Ptr pcl::MarchingCubes< PointNT >::KdTreePtr |
Definition at line 375 of file marching_cubes.h.
typedef pcl::PointCloud<PointNT>::Ptr pcl::MarchingCubes< PointNT >::PointCloudPtr |
Definition at line 372 of file marching_cubes.h.
typedef boost::shared_ptr<MarchingCubes<PointNT> > pcl::MarchingCubes< PointNT >::Ptr |
Definition at line 366 of file marching_cubes.h.
pcl::MarchingCubes< PointNT >::MarchingCubes | ( | ) |
Constructor.
Definition at line 47 of file marching_cubes.hpp.
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Destructor.
Definition at line 54 of file marching_cubes.hpp.
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Calculate out the corresponding polygons in the leaf node.
leaf_node | the leaf node to be checked |
index_3d | the 3d index of the leaf node to be checked |
cloud | point cloud to store the vertices of the polygon |
Definition at line 100 of file marching_cubes.hpp.
References pcl::edgeTable, pcl::PointCloud< T >::push_back(), and pcl::triTable.
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Get the bounding box for the input data points.
Definition at line 60 of file marching_cubes.hpp.
References pcl::getMinMax3D().
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inlineprotectedvirtual |
Class get name method.
Reimplemented from pcl::PCLSurfaceBase< PointNT >.
Definition at line 495 of file marching_cubes.h.
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Method to get the marching cubes grid resolution.
[in] | res_x | the resolution of the grid along the x-axis |
[in] | res_y | the resolution of the grid along the y-axis |
[in] | res_z | the resolution of the grid along the z-axis |
Definition at line 413 of file marching_cubes.h.
References pcl::MarchingCubes< PointNT >::res_x_, pcl::MarchingCubes< PointNT >::res_y_, and pcl::MarchingCubes< PointNT >::res_z_.
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Method that returns the scalar value at the given grid position.
[in] | pos | The 3D position in the grid |
TODO what to return?
Definition at line 209 of file marching_cubes.hpp.
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Method that returns the iso level of the surface to be extracted.
Definition at line 394 of file marching_cubes.h.
References pcl::MarchingCubes< PointNT >::iso_level_.
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Method that returns the scalar values of the neighbors of a given 3D position in the grid.
[in] | index3d | the point in the grid |
[out] | leaf | the set of values |
Definition at line 191 of file marching_cubes.hpp.
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Method that gets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box.
Definition at line 430 of file marching_cubes.h.
References pcl::MarchingCubes< PointNT >::percentage_extend_grid_.
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Interpolate along the voxel edge.
[in] | p1 | The first point on the edge |
[in] | p2 | The second point on the edge |
[in] | val_p1 | The scalar value at p1 |
[in] | val_p2 | The scalar value at p2 |
[out] | output | The interpolated point along the edge |
Definition at line 87 of file marching_cubes.hpp.
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Extract the surface.
[out] | output | the resultant polygonal mesh |
Implements pcl::SurfaceReconstruction< PointNT >.
Definition at line 225 of file marching_cubes.hpp.
References pcl::PolygonMesh::cloud, pcl::PCLPointCloud2::data, pcl::PCLPointCloud2::height, pcl::PolygonMesh::polygons, pcl::PointCloud< T >::size(), pcl::toPCLPointCloud2(), pcl::Vertices::vertices, and pcl::PCLPointCloud2::width.
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Extract the surface.
[out] | points | the points of the extracted mesh |
[out] | polygons | the connectivity between the point of the extracted mesh. |
Implements pcl::SurfaceReconstruction< PointNT >.
Definition at line 279 of file marching_cubes.hpp.
References pcl::PointCloud< T >::clear(), pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, pcl::PointCloud< T >::size(), pcl::Vertices::vertices, and pcl::PointCloud< T >::width.
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inline |
Method that sets the marching cubes grid resolution.
[in] | res_x | the resolution of the grid along the x-axis |
[in] | res_y | the resolution of the grid along the y-axis |
[in] | res_z | the resolution of the grid along the z-axis |
Definition at line 403 of file marching_cubes.h.
References pcl::MarchingCubes< PointNT >::res_x_, pcl::MarchingCubes< PointNT >::res_y_, and pcl::MarchingCubes< PointNT >::res_z_.
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Method that sets the iso level of the surface to be extracted.
[in] | iso_level | the iso level. |
Definition at line 389 of file marching_cubes.h.
References pcl::MarchingCubes< PointNT >::iso_level_.
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Method that sets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits.
Does not affect the resolution of the grid, it just changes the voxel size accordingly.
[in] | percentage | the percentage of the bounding box that should be left empty between the bounding box and the grid limits. |
Definition at line 423 of file marching_cubes.h.
References pcl::MarchingCubes< PointNT >::percentage_extend_grid_.
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Convert the point cloud into voxel data.
Implemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.
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The data structure storing the 3D grid.
Definition at line 435 of file marching_cubes.h.
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The iso level to be extracted.
Definition at line 448 of file marching_cubes.h.
Referenced by pcl::MarchingCubes< PointNT >::getIsoLevel(), and pcl::MarchingCubes< PointNT >::setIsoLevel().
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Definition at line 441 of file marching_cubes.h.
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Min and max data points.
Definition at line 441 of file marching_cubes.h.
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Parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box.
Definition at line 445 of file marching_cubes.h.
Referenced by pcl::MarchingCubes< PointNT >::getPercentageExtendGrid(), and pcl::MarchingCubes< PointNT >::setPercentageExtendGrid().
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The grid resolution.
Definition at line 438 of file marching_cubes.h.
Referenced by pcl::MarchingCubes< PointNT >::getGridResolution(), and pcl::MarchingCubes< PointNT >::setGridResolution().
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Definition at line 438 of file marching_cubes.h.
Referenced by pcl::MarchingCubes< PointNT >::getGridResolution(), and pcl::MarchingCubes< PointNT >::setGridResolution().
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Definition at line 438 of file marching_cubes.h.
Referenced by pcl::MarchingCubes< PointNT >::getGridResolution(), and pcl::MarchingCubes< PointNT >::setGridResolution().