Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::MarchingCubes< PointNT > Class Template Reference

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 >:
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List of all members.

Public Types

typedef pcl::KdTree< PointNT > KdTree
typedef pcl::KdTree< PointNT >::Ptr KdTreePtr
typedef pcl::PointCloud
< PointNT >::Ptr 
PointCloudPtr

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.
 ~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.
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.
void performReconstruction (pcl::PolygonMesh &output)
 Extract the surface.
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 pcl::KdTree<PointNT> pcl::MarchingCubes< PointNT >::KdTree

Reimplemented from pcl::PCLSurfaceBase< PointNT >.

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

Definition at line 371 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 372 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 369 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 ( )

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_nodethe leaf node to be checked
index_3dthe 3d index of the leaf node to be checked
cloudpoint cloud to store the vertices of the polygon

Definition at line 99 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 492 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_xthe resolution of the grid along the x-axis
[in]res_ythe resolution of the grid along the y-axis
[in]res_zthe resolution of the grid along the z-axis

Definition at line 410 of file marching_cubes.h.

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

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

Parameters:
[in]posThe 3D position in the grid

TODO what to return?

Definition at line 208 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 391 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]index3dthe point in the grid
[out]leafthe set of values

Definition at line 190 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 427 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]p1The first point on the edge
[in]p2The second point on the edge
[in]val_p1The scalar value at p1
[in]val_p2The scalar value at p2
[out]outputThe interpolated point along the edge

Definition at line 86 of file marching_cubes.hpp.

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

Extract the surface.

Parameters:
[out]outputthe resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 224 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]pointsthe points of the extracted mesh
[out]polygonsthe connectivity between the point of the extracted mesh.

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 278 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_xthe resolution of the grid along the x-axis
[in]res_ythe resolution of the grid along the y-axis
[in]res_zthe resolution of the grid along the z-axis

Definition at line 400 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_levelthe iso level.

Definition at line 386 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]percentagethe percentage of the bounding box that should be left empty between the bounding box and the grid limits.

Definition at line 420 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 432 of file marching_cubes.h.

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

The iso level to be extracted.

Definition at line 445 of file marching_cubes.h.

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

Definition at line 442 of file marching_cubes.h.

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

Min and max data points.

Definition at line 442 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 439 of file marching_cubes.h.

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

The grid resolution.

Definition at line 435 of file marching_cubes.h.

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

Definition at line 435 of file marching_cubes.h.

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

Definition at line 435 of file marching_cubes.h.


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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:19:34