The marching cubes surface reconstruction algorithm. This is an abstract class that takes a grid and extracts the isosurface as a mesh, based on the original marching cubes paper: More...

#include <marching_cubes.h>

Inheritance diagram for pcl::MarchingCubes< PointNT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const MarchingCubes< PointNT > >	ConstPtr
typedef pcl::KdTree< PointNT >	KdTree
typedef pcl::KdTree< PointNT >::Ptr	KdTreePtr
typedef pcl::PointCloud < PointNT >::Ptr	PointCloudPtr
typedef boost::shared_ptr < MarchingCubes< PointNT > >	Ptr
Public Member Functions
void	getGridResolution (int &res_x, int &res_y, int &res_z)
	Method to get the marching cubes grid resolution.
float	getIsoLevel ()
	Method that returns the iso level of the surface to be extracted.
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.
	MarchingCubes ()
	Constructor.
void	setGridResolution (int res_x, int res_y, int res_z)
	Method that sets the marching cubes grid resolution.
void	setIsoLevel (float iso_level)
	Method that sets the iso level of the surface to be extracted.
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. Does not affect the resolution of the grid, it just changes the voxel size accordingly.
virtual	~MarchingCubes ()
	Destructor.
Protected Member Functions
void	createSurface (std::vector< float > &leaf_node, 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.
std::string	getClassName () const
	Class get name method.
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.
void	interpolateEdge (Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output)
	Interpolate along the voxel edge.
virtual void	performReconstruction (pcl::PolygonMesh &output)
	Extract the surface.
virtual void	performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
	Extract the surface.
virtual void	voxelizeData ()=0
	Convert the point cloud into voxel data.
Protected Attributes
std::vector< float >	grid_
	The data structure storing the 3D grid.
float	iso_level_
	The iso level to be extracted.
Eigen::Vector4f	max_p_
Eigen::Vector4f	min_p_
	Min and max data points.
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.
int	res_x_
	The grid resolution.
int	res_y_
int	res_z_

Detailed Description

template<typename PointNT>
class pcl::MarchingCubes< PointNT >

The marching cubes surface reconstruction algorithm. This is an abstract class that takes a grid and extracts the isosurface as a mesh, based on the original marching cubes paper:

Lorensen W.E., Cline H.E., "Marching cubes: A high resolution 3d surface construction algorithm", SIGGRAPH '87

Author:: Alexandru E. Ichim

Definition at line 363 of file marching_cubes.h.

Member Typedef Documentation

template<typename PointNT>

typedef boost::shared_ptr<const MarchingCubes<PointNT> > pcl::MarchingCubes< PointNT >::ConstPtr

Reimplemented from pcl::SurfaceReconstruction< PointNT >.

Reimplemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.

Definition at line 367 of file marching_cubes.h.

template<typename PointNT>

typedef pcl::KdTree<PointNT> pcl::MarchingCubes< PointNT >::KdTree

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Reimplemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.

Definition at line 374 of file marching_cubes.h.

template<typename PointNT>

typedef pcl::KdTree<PointNT>::Ptr pcl::MarchingCubes< PointNT >::KdTreePtr

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Reimplemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.

Definition at line 375 of file marching_cubes.h.

template<typename PointNT>

typedef pcl::PointCloud<PointNT>::Ptr pcl::MarchingCubes< PointNT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointNT >.

Reimplemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.

Definition at line 372 of file marching_cubes.h.

template<typename PointNT>

typedef boost::shared_ptr<MarchingCubes<PointNT> > pcl::MarchingCubes< PointNT >::Ptr

Reimplemented from pcl::SurfaceReconstruction< PointNT >.

Reimplemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.

Definition at line 366 of file marching_cubes.h.

Constructor & Destructor Documentation

template<typename PointNT >

pcl::MarchingCubes< PointNT >::MarchingCubes ( )

Constructor.

Definition at line 47 of file marching_cubes.hpp.

template<typename PointNT >

pcl::MarchingCubes< PointNT >::~MarchingCubes ( ) [virtual]

Destructor.

Definition at line 54 of file marching_cubes.hpp.

Member Function Documentation

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::createSurface	(	std::vector< float > &	leaf_node,
		Eigen::Vector3i &	index_3d,
		pcl::PointCloud< PointNT > &	cloud
	)		`[protected]`

Calculate out the corresponding polygons in the leaf node.

Parameters:

leaf_node	the leaf node to be checked
index_3d	the 3d index of the leaf node to be checked
cloud	point cloud to store the vertices of the polygon

Definition at line 100 of file marching_cubes.hpp.

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::getBoundingBox ( ) [protected]

Get the bounding box for the input data points.

Definition at line 60 of file marching_cubes.hpp.

template<typename PointNT>

std::string pcl::MarchingCubes< PointNT >::getClassName ( ) const [inline, protected, virtual]

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

Definition at line 495 of file marching_cubes.h.

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::getGridResolution	(	int &	res_x,
		int &	res_y,
		int &	res_z
	)		`[inline]`

Method to get the marching cubes grid resolution.

Parameters:

[in]	res_x	the resolution of the grid along the x-axis
[in]	res_y	the resolution of the grid along the y-axis
[in]	res_z	the resolution of the grid along the z-axis

Definition at line 413 of file marching_cubes.h.

template<typename PointNT >

float pcl::MarchingCubes< PointNT >::getGridValue ( Eigen::Vector3i pos ) [protected, virtual]

Method that returns the scalar value at the given grid position.

Parameters:

[in] pos The 3D position in the grid

TODO what to return?

Definition at line 209 of file marching_cubes.hpp.

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::getIsoLevel ( ) [inline]

Method that returns the iso level of the surface to be extracted.

Definition at line 394 of file marching_cubes.h.

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::getNeighborList1D	(	std::vector< float > &	leaf,
		Eigen::Vector3i &	index3d
	)		`[protected]`

Method that returns the scalar values of the neighbors of a given 3D position in the grid.

Parameters:

[in]	index3d	the point in the grid
[out]	leaf	the set of values

Definition at line 191 of file marching_cubes.hpp.

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::getPercentageExtendGrid ( ) [inline]

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.

Definition at line 430 of file marching_cubes.h.

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::interpolateEdge	(	Eigen::Vector3f &	p1,
		Eigen::Vector3f &	p2,
		float	val_p1,
		float	val_p2,
		Eigen::Vector3f &	output
	)		`[protected]`

Interpolate along the voxel edge.

Parameters:

[in]	p1	The first point on the edge
[in]	p2	The second point on the edge
[in]	val_p1	The scalar value at p1
[in]	val_p2	The scalar value at p2
[out]	output	The interpolated point along the edge

Definition at line 87 of file marching_cubes.hpp.

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::performReconstruction ( pcl::PolygonMesh & output ) [protected, virtual]

Extract the surface.

Parameters:

[out] output the resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 225 of file marching_cubes.hpp.

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::performReconstruction	(	pcl::PointCloud< PointNT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)		`[protected, virtual]`

Extract the surface.

Parameters:

[out]	points	the points of the extracted mesh
[out]	polygons	the connectivity between the point of the extracted mesh.

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 279 of file marching_cubes.hpp.

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::setGridResolution	(	int	res_x,
		int	res_y,
		int	res_z
	)		`[inline]`

Method that sets the marching cubes grid resolution.

Parameters:

[in]	res_x	the resolution of the grid along the x-axis
[in]	res_y	the resolution of the grid along the y-axis
[in]	res_z	the resolution of the grid along the z-axis

Definition at line 403 of file marching_cubes.h.

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::setIsoLevel ( float iso_level ) [inline]

Method that sets the iso level of the surface to be extracted.

Parameters:

[in] iso_level the iso level.

Definition at line 389 of file marching_cubes.h.

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::setPercentageExtendGrid ( float percentage ) [inline]

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. Does not affect the resolution of the grid, it just changes the voxel size accordingly.

Parameters:

[in] percentage the percentage of the bounding box that should be left empty between the bounding box and the grid limits.

Definition at line 423 of file marching_cubes.h.

template<typename PointNT>

virtual void pcl::MarchingCubes< PointNT >::voxelizeData ( ) [protected, pure virtual]

Convert the point cloud into voxel data.

Implemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.

Member Data Documentation

template<typename PointNT>

std::vector<float> pcl::MarchingCubes< PointNT >::grid_ [protected]

The data structure storing the 3D grid.

Definition at line 435 of file marching_cubes.h.

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::iso_level_ [protected]

The iso level to be extracted.

Definition at line 448 of file marching_cubes.h.

template<typename PointNT>

Eigen::Vector4f pcl::MarchingCubes< PointNT >::max_p_ [protected]

Definition at line 441 of file marching_cubes.h.

template<typename PointNT>

Eigen::Vector4f pcl::MarchingCubes< PointNT >::min_p_ [protected]

Min and max data points.

Definition at line 441 of file marching_cubes.h.

template<typename PointNT>

float pcl::MarchingCubes< PointNT >::percentage_extend_grid_ [protected]

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.

Definition at line 445 of file marching_cubes.h.

template<typename PointNT>

int pcl::MarchingCubes< PointNT >::res_x_ [protected]

The grid resolution.

Definition at line 438 of file marching_cubes.h.

template<typename PointNT>

int pcl::MarchingCubes< PointNT >::res_y_ [protected]

Definition at line 438 of file marching_cubes.h.

template<typename PointNT>

int pcl::MarchingCubes< PointNT >::res_z_ [protected]

Definition at line 438 of file marching_cubes.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointNT> class pcl::MarchingCubes< PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointNT>
class pcl::MarchingCubes< PointNT >