Point Cloud Library (PCL)
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include
pcl
surface
marching_cubes_rbf.h
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef PCL_SURFACE_MARCHING_CUBES_RBF_H_
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#define PCL_SURFACE_MARCHING_CUBES_RBF_H_
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#include <pcl/surface/boost.h>
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#include <pcl/surface/marching_cubes.h>
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namespace
pcl
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{
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/** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on radial
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* basis functions. Partially based on:
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* Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
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* "Reconstruction and representation of 3D objects with radial basis functions"
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* SIGGRAPH '01
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*
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* \author Alexandru E. Ichim
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* \ingroup surface
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*/
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template
<
typename
Po
int
NT>
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class
MarchingCubesRBF
:
public
MarchingCubes
<PointNT>
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{
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public
:
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typedef
boost::shared_ptr<MarchingCubesRBF<PointNT> >
Ptr
;
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typedef
boost::shared_ptr<const MarchingCubesRBF<PointNT> >
ConstPtr
;
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using
SurfaceReconstruction<PointNT>::input_
;
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using
SurfaceReconstruction<PointNT>::tree_
;
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using
MarchingCubes<PointNT>::grid_
;
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using
MarchingCubes<PointNT>::res_x_
;
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using
MarchingCubes<PointNT>::res_y_
;
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using
MarchingCubes<PointNT>::res_z_
;
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using
MarchingCubes<PointNT>::min_p_
;
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using
MarchingCubes<PointNT>::max_p_
;
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typedef
typename
pcl::PointCloud<PointNT>::Ptr
PointCloudPtr
;
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typedef
typename
pcl::KdTree<PointNT>
KdTree
;
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typedef
typename
pcl::KdTree<PointNT>::Ptr
KdTreePtr
;
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/** \brief Constructor. */
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MarchingCubesRBF
();
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/** \brief Destructor. */
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~MarchingCubesRBF
();
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/** \brief Convert the point cloud into voxel data. */
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void
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voxelizeData
();
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/** \brief Set the off-surface points displacement value.
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* \param[in] epsilon the value
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*/
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inline
void
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setOffSurfaceDisplacement
(
float
epsilon)
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{
off_surface_epsilon_
= epsilon; }
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/** \brief Get the off-surface points displacement value. */
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inline
float
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getOffSurfaceDisplacement
()
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{
return
off_surface_epsilon_
; }
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protected
:
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/** \brief the Radial Basis Function kernel. */
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double
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kernel
(Eigen::Vector3d c, Eigen::Vector3d x);
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/** \brief The off-surface displacement value. */
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float
off_surface_epsilon_
;
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public
:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/surface/impl/marching_cubes_rbf.hpp>
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#endif
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#endif // PCL_SURFACE_MARCHING_CUBES_RBF_H_
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