The marching cubes surface reconstruction algorithm. More...

#include <pcl/surface/marching_cubes.h>

Inheritance diagram for pcl::MarchingCubes< PointNT >:

Collaboration diagram for pcl::MarchingCubes< PointNT >:

Public Types
using	Ptr = shared_ptr<MarchingCubes<PointNT> >
using	ConstPtr = shared_ptr<const MarchingCubes<PointNT> >
using	PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr
using	KdTree = pcl::KdTree<PointNT>
using	KdTreePtr = typename KdTree::Ptr
Public Types inherited from pcl::SurfaceReconstruction< PointNT >
using	Ptr
using	ConstPtr
Public Types inherited from pcl::PCLSurfaceBase< PointNT >
using	Ptr
using	ConstPtr
using	KdTree
using	KdTreePtr
Public Types inherited from pcl::PCLBase< PointNT >
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
using	PointIndicesPtr
using	PointIndicesConstPtr

Public Member Functions
	MarchingCubes (const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
	Constructor.
	~MarchingCubes () override
	Destructor.
void	setIsoLevel (float iso_level)
	Method that sets the iso level of the surface to be extracted.
float	getIsoLevel ()
	Method that returns the iso level of the surface to be extracted.
void	setGridResolution (int res_x, int res_y, int res_z)
	Method that sets the marching cubes grid resolution.
void	getGridResolution (int &res_x, int &res_y, int &res_z)
	Method to get the marching cubes grid resolution.
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.
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.
Public Member Functions inherited from pcl::SurfaceReconstruction< PointNT >
	SurfaceReconstruction ()=default
	Constructor.
	~SurfaceReconstruction () override=default
	Destructor.
void	reconstruct (pcl::PolygonMesh &output) override
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
Public Member Functions inherited from pcl::PCLSurfaceBase< PointNT >
	PCLSurfaceBase ()
	Empty constructor.
	~PCLSurfaceBase () override=default
	Empty destructor.
void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
Public Member Functions inherited from pcl::PCLBase< PointNT >
	PCLBase ()
	Empty constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
const PointNT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
virtual void	voxelizeData ()=0
	Convert the point cloud into voxel data.
void	interpolateEdge (Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output)
	Interpolate along the voxel edge.
void	createSurface (const std::vector< float > &leaf_node, const Eigen::Vector3i &index_3d, pcl::PointCloud< PointNT > &cloud)
	Calculate out the corresponding polygons in the leaf node.
void	getBoundingBox ()
	Get the bounding box for the input data points.
virtual float	getGridValue (Eigen::Vector3i pos)
	Method that returns the scalar value at the given grid position.
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.
std::string	getClassName () const override
	Class get name method.
void	performReconstruction (pcl::PolygonMesh &output) override
	Extract the surface.
void	performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) override
	Extract the surface.
Protected Member Functions inherited from pcl::PCLBase< PointNT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
std::vector< float >	grid_
	The data structure storing the 3D grid.
int	res_x_ = 32
	The grid resolution.
int	res_y_ = 32
int	res_z_ = 32
Eigen::Array3f	upper_boundary_
	bounding box
Eigen::Array3f	lower_boundary_
Eigen::Array3f	size_voxel_
	size of voxels
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.
float	iso_level_
	The iso level to be extracted.
Protected Attributes inherited from pcl::SurfaceReconstruction< PointNT >
bool	check_tree_
	A flag specifying whether or not the derived reconstruction algorithm needs the search object tree.
Protected Attributes inherited from pcl::PCLSurfaceBase< PointNT >
KdTreePtr	tree_
	A pointer to the spatial search object.
Protected Attributes inherited from pcl::PCLBase< PointNT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

template<typename PointNT>
class pcl::MarchingCubes< PointNT >

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

Template Parameters

PointNT Use pcl::PointNormal or pcl::PointXYZRGBNormal or pcl::PointXYZINormal

Author: Alexandru E. Ichim

Definition at line 364 of file marching_cubes.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointNT>

using pcl::MarchingCubes< PointNT >::ConstPtr = shared_ptr<const MarchingCubes<PointNT> >

Definition at line 368 of file marching_cubes.h.

◆ KdTree

template<typename PointNT>

using pcl::MarchingCubes< PointNT >::KdTree = pcl::KdTree<PointNT>

Definition at line 375 of file marching_cubes.h.

◆ KdTreePtr

template<typename PointNT>

using pcl::MarchingCubes< PointNT >::KdTreePtr = typename KdTree::Ptr

Definition at line 376 of file marching_cubes.h.

◆ PointCloudPtr

template<typename PointNT>

using pcl::MarchingCubes< PointNT >::PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr

Definition at line 373 of file marching_cubes.h.

◆ Ptr

template<typename PointNT>

using pcl::MarchingCubes< PointNT >::Ptr = shared_ptr<MarchingCubes<PointNT> >

Definition at line 367 of file marching_cubes.h.

Constructor & Destructor Documentation

◆ MarchingCubes()

template<typename PointNT>

pcl::MarchingCubes< PointNT >::MarchingCubes	(	const float	percentage_extend_grid = 0.0f,
		const float	iso_level = 0.0f )

inline

Constructor.

Definition at line 379 of file marching_cubes.h.

References iso_level_, and percentage_extend_grid_.

Referenced by pcl::MarchingCubesHoppe< PointNT >::MarchingCubesHoppe(), and pcl::MarchingCubesRBF< PointNT >::MarchingCubesRBF().

◆ ~MarchingCubes()

template<typename PointNT>

pcl::MarchingCubes< PointNT >::~MarchingCubes ( )

overridedefault

Destructor.

Member Function Documentation

◆ createSurface()

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::createSurface	(	const std::vector< float > &	leaf_node,
		const Eigen::Vector3i &	index_3d,
		pcl::PointCloud< PointNT > &	cloud )

protected

Calculate out the corresponding polygons in the leaf node.

Parameters

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 81 of file marching_cubes.hpp.

References pcl::edgeTable, interpolateEdge(), iso_level_, lower_boundary_, pcl::PointCloud< PointT >::push_back(), size_voxel_, and pcl::triTable.

Referenced by performReconstruction().

◆ getBoundingBox()

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::getBoundingBox ( )

protected

Get the bounding box for the input data points.

Definition at line 50 of file marching_cubes.hpp.

References pcl::getMinMax3D(), pcl::PCLBase< PointNT >::input_, lower_boundary_, percentage_extend_grid_, and upper_boundary_.

Referenced by performReconstruction().

◆ getClassName()

template<typename PointNT>

std::string pcl::MarchingCubes< PointNT >::getClassName ( ) const

inlineoverrideprotectedvirtual

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 505 of file marching_cubes.h.

Referenced by performReconstruction().

◆ getGridResolution()

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::getGridResolution	(	int &	res_x,
		int &	res_y,
		int &	res_z )

inline

Method to get the marching cubes grid resolution.

Parameters

[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 417 of file marching_cubes.h.

References res_x_, res_y_, and res_z_.

◆ getGridValue()

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::getGridValue ( Eigen::Vector3i pos )

protectedvirtual

Method that returns the scalar value at the given grid position.

Parameters

[in] pos The 3D position in the grid

TODO what to return?

Definition at line 190 of file marching_cubes.hpp.

References grid_, res_x_, res_y_, and res_z_.

Referenced by getNeighborList1D().

◆ getIsoLevel()

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::getIsoLevel ( )

inline

Method that returns the iso level of the surface to be extracted.

Definition at line 399 of file marching_cubes.h.

References iso_level_.

◆ getNeighborList1D()

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::getNeighborList1D	(	std::vector< float > &	leaf,
		Eigen::Vector3i &	index3d )

protected

Method that returns the scalar values of the neighbors of a given 3D position in the grid.

Parameters

[in]	index3d	the point in the grid
[out]	leaf	the set of values

Definition at line 163 of file marching_cubes.hpp.

References getGridValue().

Referenced by performReconstruction().

◆ getPercentageExtendGrid()

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::getPercentageExtendGrid ( )

inline

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 434 of file marching_cubes.h.

References percentage_extend_grid_.

◆ interpolateEdge()

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::interpolateEdge	(	Eigen::Vector3f &	p1,
		Eigen::Vector3f &	p2,
		float	val_p1,
		float	val_p2,
		Eigen::Vector3f &	output )

protected

Interpolate along the voxel edge.

Parameters

[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 68 of file marching_cubes.hpp.

References iso_level_.

Referenced by createSurface().

◆ performReconstruction() [1/2]

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::performReconstruction	(	pcl::PointCloud< PointNT > &	points,
		std::vector< pcl::Vertices > &	polygons )

overrideprotected

Extract the surface.

Parameters

[out]	points	the points of the extracted mesh
[out]	polygons	the connectivity between the point of the extracted mesh.

Definition at line 218 of file marching_cubes.hpp.

References pcl::PointCloud< PointT >::clear(), createSurface(), getBoundingBox(), getClassName(), getNeighborList1D(), grid_, iso_level_, lower_boundary_, pcl::PointCloud< PointT >::points, res_x_, res_y_, res_z_, pcl::PointCloud< PointT >::reserve(), pcl::PointCloud< PointT >::size(), size_voxel_, pcl::PointCloud< PointT >::swap(), upper_boundary_, pcl::Vertices::vertices, and voxelizeData().

◆ performReconstruction() [2/2]

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::performReconstruction ( pcl::PolygonMesh & output )

overrideprotectedvirtual

Extract the surface.

Parameters

[out] output the resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 206 of file marching_cubes.hpp.

References pcl::PolygonMesh::cloud, performReconstruction(), pcl::PolygonMesh::polygons, and pcl::toPCLPointCloud2().

Referenced by performReconstruction().

◆ setGridResolution()

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::setGridResolution	(	int	res_x,
		int	res_y,
		int	res_z )

inline

Method that sets the marching cubes grid resolution.

Parameters

[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 408 of file marching_cubes.h.

References res_x_, res_y_, and res_z_.

◆ setIsoLevel()

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::setIsoLevel ( float iso_level )

inline

Method that sets the iso level of the surface to be extracted.

Parameters

[in] iso_level the iso level.

Definition at line 394 of file marching_cubes.h.

References iso_level_.

◆ setPercentageExtendGrid()

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::setPercentageExtendGrid ( float percentage )

inline

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.

Parameters

[in] percentage the percentage of the bounding box that should be left empty between the bounding box and the grid limits.

Definition at line 427 of file marching_cubes.h.

References percentage_extend_grid_.

◆ voxelizeData()

template<typename PointNT>

virtual void pcl::MarchingCubes< PointNT >::voxelizeData ( )

protectedpure virtual

Convert the point cloud into voxel data.

Implemented in pcl::MarchingCubesHoppe< PointNT >, and pcl::MarchingCubesRBF< PointNT >.

Referenced by performReconstruction().

Member Data Documentation

◆ grid_

template<typename PointNT>

std::vector<float> pcl::MarchingCubes< PointNT >::grid_

protected

The data structure storing the 3D grid.

Definition at line 439 of file marching_cubes.h.

Referenced by getGridValue(), performReconstruction(), pcl::MarchingCubesHoppe< PointNT >::voxelizeData(), and pcl::MarchingCubesRBF< PointNT >::voxelizeData().

◆ iso_level_

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::iso_level_

protected

The iso level to be extracted.

Definition at line 456 of file marching_cubes.h.

Referenced by createSurface(), getIsoLevel(), interpolateEdge(), MarchingCubes(), performReconstruction(), and setIsoLevel().

◆ lower_boundary_

template<typename PointNT>

Eigen::Array3f pcl::MarchingCubes< PointNT >::lower_boundary_

protected

Definition at line 446 of file marching_cubes.h.

Referenced by createSurface(), getBoundingBox(), performReconstruction(), pcl::MarchingCubesHoppe< PointNT >::voxelizeData(), and pcl::MarchingCubesRBF< PointNT >::voxelizeData().

◆ percentage_extend_grid_

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::percentage_extend_grid_

protected

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 453 of file marching_cubes.h.

Referenced by getBoundingBox(), getPercentageExtendGrid(), MarchingCubes(), and setPercentageExtendGrid().

◆ res_x_

template<typename PointNT>

int pcl::MarchingCubes< PointNT >::res_x_ = 32

protected

The grid resolution.

Definition at line 442 of file marching_cubes.h.

Referenced by getGridResolution(), getGridValue(), performReconstruction(), setGridResolution(), pcl::MarchingCubesHoppe< PointNT >::voxelizeData(), and pcl::MarchingCubesRBF< PointNT >::voxelizeData().

◆ res_y_

template<typename PointNT>

int pcl::MarchingCubes< PointNT >::res_y_ = 32

protected

Definition at line 442 of file marching_cubes.h.

Referenced by getGridResolution(), getGridValue(), performReconstruction(), setGridResolution(), pcl::MarchingCubesHoppe< PointNT >::voxelizeData(), and pcl::MarchingCubesRBF< PointNT >::voxelizeData().

◆ res_z_

template<typename PointNT>

int pcl::MarchingCubes< PointNT >::res_z_ = 32

protected

Definition at line 442 of file marching_cubes.h.

Referenced by getGridResolution(), getGridValue(), performReconstruction(), setGridResolution(), pcl::MarchingCubesHoppe< PointNT >::voxelizeData(), and pcl::MarchingCubesRBF< PointNT >::voxelizeData().

◆ size_voxel_

template<typename PointNT>

Eigen::Array3f pcl::MarchingCubes< PointNT >::size_voxel_

protected

size of voxels

Definition at line 449 of file marching_cubes.h.

Referenced by createSurface(), performReconstruction(), pcl::MarchingCubesHoppe< PointNT >::voxelizeData(), and pcl::MarchingCubesRBF< PointNT >::voxelizeData().

◆ upper_boundary_

template<typename PointNT>

Eigen::Array3f pcl::MarchingCubes< PointNT >::upper_boundary_

protected

bounding box

Definition at line 445 of file marching_cubes.h.

Referenced by getBoundingBox(), and performReconstruction().

The documentation for this class was generated from the following files:

pcl/surface/marching_cubes.h
pcl/surface/impl/marching_cubes.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ KdTree

◆ KdTreePtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ MarchingCubes()

◆ ~MarchingCubes()

Member Function Documentation

◆ createSurface()

◆ getBoundingBox()

◆ getClassName()

◆ getGridResolution()

◆ getGridValue()

◆ getIsoLevel()

◆ getNeighborList1D()

◆ getPercentageExtendGrid()

◆ interpolateEdge()

◆ performReconstruction() [1/2]

◆ performReconstruction() [2/2]

◆ setGridResolution()

◆ setIsoLevel()

◆ setPercentageExtendGrid()

◆ voxelizeData()

Member Data Documentation

◆ grid_

◆ iso_level_

◆ lower_boundary_

◆ percentage_extend_grid_

◆ res_x_

◆ res_y_

◆ res_z_

◆ size_voxel_

◆ upper_boundary_