The marching cubes surface reconstruction algorithm, using a signed distance function based on radial basis functions. More...

#include <pcl/surface/marching_cubes_rbf.h>

Inheritance diagram for pcl::MarchingCubesRBF< PointNT >:

Collaboration diagram for pcl::MarchingCubesRBF< PointNT >:

Public Types
using	Ptr = shared_ptr<MarchingCubesRBF<PointNT> >
using	ConstPtr = shared_ptr<const MarchingCubesRBF<PointNT> >
using	PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr
using	KdTree = pcl::KdTree<PointNT>
using	KdTreePtr = typename KdTree::Ptr
Public Types inherited from pcl::MarchingCubes< PointNT >
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
	MarchingCubesRBF (const float off_surface_epsilon=0.1f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
	Constructor.
	~MarchingCubesRBF () override
	Destructor.
void	voxelizeData () override
	Convert the point cloud into voxel data.
void	setOffSurfaceDisplacement (float epsilon)
	Set the off-surface points displacement value.
float	getOffSurfaceDisplacement ()
	Get the off-surface points displacement value.
Public Member Functions inherited from pcl::MarchingCubes< PointNT >
	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
double	kernel (Eigen::Vector3d c, Eigen::Vector3d x)
	the Radial Basis Function kernel.
Protected Member Functions inherited from pcl::MarchingCubes< PointNT >
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
float	off_surface_epsilon_
	The off-surface displacement value.
Protected Attributes inherited from pcl::MarchingCubes< PointNT >
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::MarchingCubesRBF< PointNT >

The marching cubes surface reconstruction algorithm, using a signed distance function based on radial basis functions.

Partially based on: Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R., "Reconstruction and representation of 3D objects with radial basis functions" SIGGRAPH '01

Note: This algorithm in its current implementation may not be suitable for very large point clouds, due to high memory requirements.

Template Parameters

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

Author: Alexandru E. Ichim

Definition at line 57 of file marching_cubes_rbf.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointNT>

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

Definition at line 61 of file marching_cubes_rbf.h.

◆ KdTree

template<typename PointNT>

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

Definition at line 75 of file marching_cubes_rbf.h.

◆ KdTreePtr

template<typename PointNT>

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

Definition at line 76 of file marching_cubes_rbf.h.

◆ PointCloudPtr

template<typename PointNT>

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

Definition at line 73 of file marching_cubes_rbf.h.

◆ Ptr

template<typename PointNT>

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

Definition at line 60 of file marching_cubes_rbf.h.

Constructor & Destructor Documentation

◆ MarchingCubesRBF()

template<typename PointNT>

pcl::MarchingCubesRBF< PointNT >::MarchingCubesRBF	(	const float	off_surface_epsilon = 0.1f,
		const float	percentage_extend_grid = 0.0f,
		const float	iso_level = 0.0f )

inline

Constructor.

Definition at line 80 of file marching_cubes_rbf.h.

References pcl::MarchingCubes< PointNT >::MarchingCubes(), and off_surface_epsilon_.

◆ ~MarchingCubesRBF()

template<typename PointNT>

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

overridedefault

Destructor.

Member Function Documentation

◆ getOffSurfaceDisplacement()

template<typename PointNT>

float pcl::MarchingCubesRBF< PointNT >::getOffSurfaceDisplacement ( )

inline

Get the off-surface points displacement value.

Definition at line 106 of file marching_cubes_rbf.h.

References off_surface_epsilon_.

◆ kernel()

template<typename PointNT>

double pcl::MarchingCubesRBF< PointNT >::kernel	(	Eigen::Vector3d	c,
		Eigen::Vector3d	x )

protected

the Radial Basis Function kernel.

Definition at line 108 of file marching_cubes_rbf.hpp.

Referenced by voxelizeData().

◆ setOffSurfaceDisplacement()

template<typename PointNT>

void pcl::MarchingCubesRBF< PointNT >::setOffSurfaceDisplacement ( float epsilon )

inline

Set the off-surface points displacement value.

Parameters

[in] epsilon the value

Definition at line 101 of file marching_cubes_rbf.h.

References off_surface_epsilon_.

◆ voxelizeData()

template<typename PointNT>

void pcl::MarchingCubesRBF< PointNT >::voxelizeData ( )

overridevirtual

Convert the point cloud into voxel data.

Implements pcl::MarchingCubes< PointNT >.

Definition at line 50 of file marching_cubes_rbf.hpp.

References pcl::MarchingCubes< PointNT >::grid_, pcl::PCLBase< PointNT >::input_, kernel(), pcl::MarchingCubes< PointNT >::lower_boundary_, off_surface_epsilon_, pcl::MarchingCubes< PointNT >::res_x_, pcl::MarchingCubes< PointNT >::res_y_, pcl::MarchingCubes< PointNT >::res_z_, and pcl::MarchingCubes< PointNT >::size_voxel_.

Member Data Documentation

◆ off_surface_epsilon_

template<typename PointNT>

float pcl::MarchingCubesRBF< PointNT >::off_surface_epsilon_

protected

The off-surface displacement value.

Definition at line 116 of file marching_cubes_rbf.h.

Referenced by getOffSurfaceDisplacement(), MarchingCubesRBF(), setOffSurfaceDisplacement(), and voxelizeData().

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

pcl/surface/marching_cubes_rbf.h
pcl/surface/impl/marching_cubes_rbf.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ KdTree

◆ KdTreePtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ MarchingCubesRBF()

◆ ~MarchingCubesRBF()

Member Function Documentation

◆ getOffSurfaceDisplacement()

◆ kernel()

◆ setOffSurfaceDisplacement()

◆ voxelizeData()

Member Data Documentation

◆ off_surface_epsilon_