Point Cloud Library (PCL)  1.7.1
marching_cubes_rbf.h
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35 
36 #ifndef PCL_SURFACE_MARCHING_CUBES_RBF_H_
37 #define PCL_SURFACE_MARCHING_CUBES_RBF_H_
38 
39 #include <pcl/surface/boost.h>
40 #include <pcl/surface/marching_cubes.h>
41 
42 namespace pcl
43 {
44  /** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on radial
45  * basis functions. Partially based on:
46  * Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
47  * "Reconstruction and representation of 3D objects with radial basis functions"
48  * SIGGRAPH '01
49  *
50  * \author Alexandru E. Ichim
51  * \ingroup surface
52  */
53  template <typename PointNT>
54  class MarchingCubesRBF : public MarchingCubes<PointNT>
55  {
56  public:
57  typedef boost::shared_ptr<MarchingCubesRBF<PointNT> > Ptr;
58  typedef boost::shared_ptr<const MarchingCubesRBF<PointNT> > ConstPtr;
59 
68 
70 
71  typedef typename pcl::KdTree<PointNT> KdTree;
73 
74 
75  /** \brief Constructor. */
77 
78  /** \brief Destructor. */
80 
81  /** \brief Convert the point cloud into voxel data. */
82  void
83  voxelizeData ();
84 
85 
86  /** \brief Set the off-surface points displacement value.
87  * \param[in] epsilon the value
88  */
89  inline void
90  setOffSurfaceDisplacement (float epsilon)
91  { off_surface_epsilon_ = epsilon; }
92 
93  /** \brief Get the off-surface points displacement value. */
94  inline float
96  { return off_surface_epsilon_; }
97 
98 
99  protected:
100  /** \brief the Radial Basis Function kernel. */
101  double
102  kernel (Eigen::Vector3d c, Eigen::Vector3d x);
103 
104  /** \brief The off-surface displacement value. */
106 
107  public:
108  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
109  };
110 }
111 
112 #ifdef PCL_NO_PRECOMPILE
113 #include <pcl/surface/impl/marching_cubes_rbf.hpp>
114 #endif
115 
116 #endif // PCL_SURFACE_MARCHING_CUBES_RBF_H_
117 
float getOffSurfaceDisplacement()
Get the off-surface points displacement value.
void setOffSurfaceDisplacement(float epsilon)
Set the off-surface points displacement value.
SurfaceReconstruction represents a base surface reconstruction class.
pcl::KdTree< PointNT > KdTree
double kernel(Eigen::Vector3d c, Eigen::Vector3d x)
the Radial Basis Function kernel.
boost::shared_ptr< MarchingCubesRBF< PointNT > > Ptr
pcl::PointCloud< PointNT >::Ptr PointCloudPtr
float off_surface_epsilon_
The off-surface displacement value.
boost::shared_ptr< const MarchingCubesRBF< PointNT > > ConstPtr
The marching cubes surface reconstruction algorithm.
KdTree represents the base spatial locator class for kd-tree implementations.
Definition: kdtree.h:55
The marching cubes surface reconstruction algorithm, using a signed distance function based on radial...
MarchingCubesRBF()
Constructor.
boost::shared_ptr< KdTree< PointT > > Ptr
Definition: kdtree.h:70
pcl::KdTree< PointNT >::Ptr KdTreePtr
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
void voxelizeData()
Convert the point cloud into voxel data.