Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 00035 00036 #ifndef PCL_SURFACE_MARCHING_CUBES_RBF_H_ 00037 #define PCL_SURFACE_MARCHING_CUBES_RBF_H_ 00038 00039 #include <pcl/surface/boost.h> 00040 #include <pcl/surface/marching_cubes.h> 00041 00042 namespace pcl 00043 { 00044 /** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on radial 00045 * basis functions. Partially based on: 00046 * Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R., 00047 * "Reconstruction and representation of 3D objects with radial basis functions" 00048 * SIGGRAPH '01 00049 * 00050 * \author Alexandru E. Ichim 00051 * \ingroup surface 00052 */ 00053 template <typename PointNT> 00054 class MarchingCubesRBF : public MarchingCubes<PointNT> 00055 { 00056 public: 00057 typedef boost::shared_ptr<MarchingCubesRBF<PointNT> > Ptr; 00058 typedef boost::shared_ptr<const MarchingCubesRBF<PointNT> > ConstPtr; 00059 00060 using SurfaceReconstruction<PointNT>::input_; 00061 using SurfaceReconstruction<PointNT>::tree_; 00062 using MarchingCubes<PointNT>::grid_; 00063 using MarchingCubes<PointNT>::res_x_; 00064 using MarchingCubes<PointNT>::res_y_; 00065 using MarchingCubes<PointNT>::res_z_; 00066 using MarchingCubes<PointNT>::min_p_; 00067 using MarchingCubes<PointNT>::max_p_; 00068 00069 typedef typename pcl::PointCloud<PointNT>::Ptr PointCloudPtr; 00070 00071 typedef typename pcl::KdTree<PointNT> KdTree; 00072 typedef typename pcl::KdTree<PointNT>::Ptr KdTreePtr; 00073 00074 00075 /** \brief Constructor. */ 00076 MarchingCubesRBF (); 00077 00078 /** \brief Destructor. */ 00079 ~MarchingCubesRBF (); 00080 00081 /** \brief Convert the point cloud into voxel data. */ 00082 void 00083 voxelizeData (); 00084 00085 00086 /** \brief Set the off-surface points displacement value. 00087 * \param[in] epsilon the value 00088 */ 00089 inline void 00090 setOffSurfaceDisplacement (float epsilon) 00091 { off_surface_epsilon_ = epsilon; } 00092 00093 /** \brief Get the off-surface points displacement value. */ 00094 inline float 00095 getOffSurfaceDisplacement () 00096 { return off_surface_epsilon_; } 00097 00098 00099 protected: 00100 /** \brief the Radial Basis Function kernel. */ 00101 double 00102 kernel (Eigen::Vector3d c, Eigen::Vector3d x); 00103 00104 /** \brief The off-surface displacement value. */ 00105 float off_surface_epsilon_; 00106 00107 public: 00108 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00109 }; 00110 } 00111 00112 #ifdef PCL_NO_PRECOMPILE 00113 #include <pcl/surface/impl/marching_cubes_rbf.hpp> 00114 #endif 00115 00116 #endif // PCL_SURFACE_MARCHING_CUBES_RBF_H_ 00117