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_IMPL_MARCHING_CUBES_HOPPE_H_ 00037 #define PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_ 00038 00039 #include <pcl/surface/marching_cubes_hoppe.h> 00040 #include <pcl/common/common.h> 00041 #include <pcl/common/vector_average.h> 00042 #include <pcl/Vertices.h> 00043 #include <pcl/kdtree/kdtree_flann.h> 00044 00045 ////////////////////////////////////////////////////////////////////////////////////////////// 00046 template <typename PointNT> 00047 pcl::MarchingCubesHoppe<PointNT>::MarchingCubesHoppe () 00048 : MarchingCubes<PointNT> () 00049 { 00050 } 00051 00052 ////////////////////////////////////////////////////////////////////////////////////////////// 00053 template <typename PointNT> 00054 pcl::MarchingCubesHoppe<PointNT>::~MarchingCubesHoppe () 00055 { 00056 } 00057 00058 00059 ////////////////////////////////////////////////////////////////////////////////////////////// 00060 template <typename PointNT> void 00061 pcl::MarchingCubesHoppe<PointNT>::voxelizeData () 00062 { 00063 for (int x = 0; x < res_x_; ++x) 00064 for (int y = 0; y < res_y_; ++y) 00065 for (int z = 0; z < res_z_; ++z) 00066 { 00067 std::vector<int> nn_indices; 00068 std::vector<float> nn_sqr_dists; 00069 00070 Eigen::Vector3f point; 00071 point[0] = min_p_[0] + (max_p_[0] - min_p_[0]) * float (x) / float (res_x_); 00072 point[1] = min_p_[1] + (max_p_[1] - min_p_[1]) * float (y) / float (res_y_); 00073 point[2] = min_p_[2] + (max_p_[2] - min_p_[2]) * float (z) / float (res_z_); 00074 00075 PointNT p; 00076 p.getVector3fMap () = point; 00077 00078 tree_->nearestKSearch (p, 1, nn_indices, nn_sqr_dists); 00079 00080 grid_[x * res_y_*res_z_ + y * res_z_ + z] = input_->points[nn_indices[0]].getNormalVector3fMap ().dot ( 00081 point - input_->points[nn_indices[0]].getVector3fMap ()); 00082 } 00083 } 00084 00085 00086 00087 #define PCL_INSTANTIATE_MarchingCubesHoppe(T) template class PCL_EXPORTS pcl::MarchingCubesHoppe<T>; 00088 00089 #endif // PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_ 00090