A surface reconstruction object that implements the standard marching cubes algorithm using a octree and a thread pool for parallel computation. More...

#include <DMCReconstruction.hpp>

Inheritance diagram for lvr2::DMCReconstruction< BaseVecT, BoxT >:

[legend]

Public Member Functions
	DMCReconstruction (PointsetSurfacePtr< BaseVecT > surface, BoundingBox< BaseVecT > bb, bool dual, int maxLevel, float maxError)
	Constructor. More...

virtual void	getMesh (BaseMesh< BaseVecT > &mesh)
	Returns the surface reconstruction of the given point set. More...

virtual void	getMesh (BaseMesh< BaseVecT > &mesh, BoundingBox< BaseVecT > &bb, vector< unsigned int > &duplicates, float comparePrecision)

virtual	~DMCReconstruction ()
	Destructor. More...

Public Member Functions inherited from lvr2::FastReconstructionBase< BaseVecT >
virtual	~FastReconstructionBase ()=default

Public Member Functions inherited from lvr2::PointsetMeshGenerator< BaseVecT >
	PointsetMeshGenerator (PointsetSurfacePtr< BaseVecT > surface)
	Constructs a Reconstructor object using the given point set surface. More...

Protected Member Functions
void	buildTree (C_Octree< BaseVecT, BoxT, my_dummy > &parent, int levels, bool dual)
	Builds a tree level respectively creates the child nodes of a root node. More...

void	detectVertexForDualCell (C_Octree< BaseVecT, BoxT, my_dummy > &octree, CellHandle ch, int cells, float max_bb_width, uint pos, int onEdge, BaseVecT &feature)
	Calculates the position of a aspecific point in a dual cell. More...

void	drawOctree (C_Octree< BaseVecT, BoxT, my_dummy > &parent)
	Saves the octree as wireframe. WORKS ONLY SINGLE THREADED! More...

float	edgeEquation (BaseVecT p, BaseVecT v1, BaseVecT v2)
	Calculates whether the given vertex lies left, right or on the given line. More...

float	getDistance (BaseVecT p, BaseVecT v1, BaseVecT v2, BaseVecT v3)
	Calculates the distance between a point and a triangle. More...

float	getDistance (BaseVecT p, BaseVecT v1, BaseVecT v2)
	Calculates the distance between a point and a line. More...

float	getDistance (BaseVecT v1, BaseVecT v2)
	Calculates the distance between to points. More...

DualLeaf< BaseVecT, BoxT > *	getDualLeaf (CellHandle &cell, int cells, C_Octree< BaseVecT, BoxT, my_dummy > &octree, char pos)
	Builds a dual cell at given position. More...

void	getRotationMatrix (float matrix[9], BaseVecT v1, BaseVecT v2, BaseVecT v3)
	Calculates a rotation matrix for a triangle that rotates it into xy. More...

void	getSurface (BaseMesh< BaseVecT > &mesh, DualLeaf< BaseVecT, BoxT > *leaf, int cells, short level)
	Performs a local reconstruction according to the standard Marching Cubes table from Paul Bourke. More...

void	matrixDotVector (float matrix, BaseVecT vector)
	Performs a matrix multiplication. More...

void	traverseTree (BaseMesh< BaseVecT > &mesh, C_Octree< BaseVecT, BoxT, my_dummy > &octree)
	Traverses the octree and insert for each leaf the getSurface-function into the thread pool. More...

Protected Attributes
float	bb_longestSide

BaseVecT	bb_max

BaseVecT	bb_min

float	bb_size [3]

std::vector< BaseVecT >	dualVertices

BaseVecT	m_boundingBoxCenter

bool	m_dual

uint	m_leaves

float	m_maxError

int	m_maxLevel

unique_ptr< DMCPointHandle< BaseVecT > >	m_pointHandler

ProgressBar *	m_progressBar

C_Octree< BaseVecT, BoxT, my_dummy > *	octree

Protected Attributes inherited from lvr2::PointsetMeshGenerator< BaseVecT >
PointsetSurfacePtr< BaseVecT >	m_surface
	The point cloud manager that handles the loaded point cloud data. More...

Detailed Description

template<typename BaseVecT, typename BoxT>
class lvr2::DMCReconstruction< BaseVecT, BoxT >

A surface reconstruction object that implements the standard marching cubes algorithm using a octree and a thread pool for parallel computation.

Definition at line 67 of file DMCReconstruction.hpp.

Constructor & Destructor Documentation

◆ DMCReconstruction()

template<typename BaseVecT , typename BoxT >

lvr2::DMCReconstruction< BaseVecT, BoxT >::DMCReconstruction	(	PointsetSurfacePtr< BaseVecT >	surface,
		BoundingBox< BaseVecT >	bb,
		bool	dual,
		int	maxLevel,
		float	maxError
	)

Constructor.

Parameters

surface	Pointer to the surface
bb	BoundingBox of the PointCloud
dual
maxLevel	Max allowed octree level
maxError	Max allowed error between points and surfaces

◆ ~DMCReconstruction()

template<typename BaseVecT , typename BoxT >

virtual lvr2::DMCReconstruction< BaseVecT, BoxT >::~DMCReconstruction ( )

virtual

Destructor.

Member Function Documentation

◆ buildTree()

template<typename BaseVecT , typename BoxT >

void lvr2::DMCReconstruction< BaseVecT, BoxT >::buildTree	(	C_Octree< BaseVecT, BoxT, my_dummy > &	parent,
		int	levels,
		bool	dual
	)

protected

Builds a tree level respectively creates the child nodes of a root node.

Parameters

parentPoints	Points inside the parent node.
parent	Reference to the parent node.
childCenter	Centers of the children.
size	Actually voxelsize.
parentCenter	Center of the parent node.

◆ detectVertexForDualCell()

template<typename BaseVecT , typename BoxT >

void lvr2::DMCReconstruction< BaseVecT, BoxT >::detectVertexForDualCell	(	C_Octree< BaseVecT, BoxT, my_dummy > &	octree,
		CellHandle	ch,
		int	cells,
		float	max_bb_width,
		uint	pos,
		int	onEdge,
		BaseVecT &	feature
	)

protected

Calculates the position of a aspecific point in a dual cell.

Parameters

octree	The current octree instace
ch	The current cellHandle of the octree
cells	Number of possible cells at current level
max_bb_width	Width of the bounding box
pos	Position of the dual cell relative to the given cell
onEdge	Indicator whether the wished position lies on an edge
feature	Vector that should be filles with the correct position

◆ drawOctree()

template<typename BaseVecT , typename BoxT >

void lvr2::DMCReconstruction< BaseVecT, BoxT >::drawOctree ( C_Octree< BaseVecT, BoxT, my_dummy > & parent )

protected

Saves the octree as wireframe. WORKS ONLY SINGLE THREADED!

Parameters

parent The octree

◆ edgeEquation()

template<typename BaseVecT , typename BoxT >

float lvr2::DMCReconstruction< BaseVecT, BoxT >::edgeEquation	(	BaseVecT	p,
		BaseVecT	v1,
		BaseVecT	v2
	)

protected

Calculates whether the given vertex lies left, right or on the given line.

Parameters

p	Vertex to check position for
v1	First point of the line
v2	Second point of the line

◆ getDistance() [1/3]

template<typename BaseVecT , typename BoxT >

float lvr2::DMCReconstruction< BaseVecT, BoxT >::getDistance	(	BaseVecT	p,
		BaseVecT	v1,
		BaseVecT	v2,
		BaseVecT	v3
	)

protected

Calculates the distance between a point and a triangle.

Parameters

p	Vertex to calculate distance for
v1	First point of the triangle
v2	Second point of the triangle
v3	Third point of the triangle

◆ getDistance() [2/3]

template<typename BaseVecT , typename BoxT >

float lvr2::DMCReconstruction< BaseVecT, BoxT >::getDistance	(	BaseVecT	p,
		BaseVecT	v1,
		BaseVecT	v2
	)

protected

Calculates the distance between a point and a line.

Parameters

p	Vertex to calculate distance for
v1	First point of the line
v2	Second point of the line

◆ getDistance() [3/3]

template<typename BaseVecT , typename BoxT >

float lvr2::DMCReconstruction< BaseVecT, BoxT >::getDistance	(	BaseVecT	v1,
		BaseVecT	v2
	)

protected

Calculates the distance between to points.

Parameters

p	Vertex to calculate distance for
v1	Point

◆ getDualLeaf()

template<typename BaseVecT , typename BoxT >

DualLeaf<BaseVecT, BoxT>* lvr2::DMCReconstruction< BaseVecT, BoxT >::getDualLeaf	(	CellHandle &	cell,
		int	cells,
		C_Octree< BaseVecT, BoxT, my_dummy > &	octree,
		char	pos
	)

protected

Builds a dual cell at given position.

Parameters

cell	Cell of the regual octree
cells	number of cells at the cells octree level
octree	Reference to the octree
pos	Position of the specific dual cell

◆ getMesh() [1/2]

template<typename BaseVecT , typename BoxT >

virtual void lvr2::DMCReconstruction< BaseVecT, BoxT >::getMesh ( BaseMesh< BaseVecT > & mesh )

virtual

Returns the surface reconstruction of the given point set.

Parameters

mesh

Implements lvr2::FastReconstructionBase< BaseVecT >.

◆ getMesh() [2/2]

template<typename BaseVecT , typename BoxT >

virtual void lvr2::DMCReconstruction< BaseVecT, BoxT >::getMesh	(	BaseMesh< BaseVecT > &	mesh,
		BoundingBox< BaseVecT > &	bb,
		vector< unsigned int > &	duplicates,
		float	comparePrecision
	)

virtual

Implements lvr2::FastReconstructionBase< BaseVecT >.

◆ getRotationMatrix()

template<typename BaseVecT , typename BoxT >

void lvr2::DMCReconstruction< BaseVecT, BoxT >::getRotationMatrix	(	float	matrix[9],
		BaseVecT	v1,
		BaseVecT	v2,
		BaseVecT	v3
	)

protected

Calculates a rotation matrix for a triangle that rotates it into xy.

Parameters

matrix	Array the matrix should be written in
v1	First point of the triangle
v2	Second point of the triangle
v3	Third point of the triangle

◆ getSurface()

template<typename BaseVecT , typename BoxT >

void lvr2::DMCReconstruction< BaseVecT, BoxT >::getSurface	(	BaseMesh< BaseVecT > &	mesh,
		DualLeaf< BaseVecT, BoxT > *	leaf,
		int	cells,
		short	level
	)

protected

Performs a local reconstruction according to the standard Marching Cubes table from Paul Bourke.

Parameters

mesh	The reconstructed mesh
leaf	A octree leaf.
cells

◆ matrixDotVector()

template<typename BaseVecT , typename BoxT >

void lvr2::DMCReconstruction< BaseVecT, BoxT >::matrixDotVector	(	float *	matrix,
		BaseVecT *	vector
	)

protected

Performs a matrix multiplication.

Parameters

matrix	Pointer to the matrix
vector	Pointer to th vector

◆ traverseTree()

template<typename BaseVecT , typename BoxT >

void lvr2::DMCReconstruction< BaseVecT, BoxT >::traverseTree	(	BaseMesh< BaseVecT > &	mesh,
		C_Octree< BaseVecT, BoxT, my_dummy > &	octree
	)

protected

Traverses the octree and insert for each leaf the getSurface-function into the thread pool.

Parameters

mesh	The reconstructed mesh.
node	Actually node.

Member Data Documentation

◆ bb_longestSide

template<typename BaseVecT , typename BoxT >

float lvr2::DMCReconstruction< BaseVecT, BoxT >::bb_longestSide

protected

Definition at line 264 of file DMCReconstruction.hpp.

◆ bb_max

template<typename BaseVecT , typename BoxT >

BaseVecT lvr2::DMCReconstruction< BaseVecT, BoxT >::bb_max

protected

Definition at line 262 of file DMCReconstruction.hpp.

◆ bb_min

template<typename BaseVecT , typename BoxT >

BaseVecT lvr2::DMCReconstruction< BaseVecT, BoxT >::bb_min

protected

Definition at line 261 of file DMCReconstruction.hpp.

◆ bb_size

template<typename BaseVecT , typename BoxT >

float lvr2::DMCReconstruction< BaseVecT, BoxT >::bb_size[3]

protected

Definition at line 263 of file DMCReconstruction.hpp.

◆ dualVertices

template<typename BaseVecT , typename BoxT >

std::vector< BaseVecT > lvr2::DMCReconstruction< BaseVecT, BoxT >::dualVertices

protected

Definition at line 282 of file DMCReconstruction.hpp.

◆ m_boundingBoxCenter

template<typename BaseVecT , typename BoxT >

BaseVecT lvr2::DMCReconstruction< BaseVecT, BoxT >::m_boundingBoxCenter

protected

Definition at line 267 of file DMCReconstruction.hpp.

◆ m_dual

template<typename BaseVecT , typename BoxT >

bool lvr2::DMCReconstruction< BaseVecT, BoxT >::m_dual

protected

Definition at line 252 of file DMCReconstruction.hpp.

◆ m_leaves

template<typename BaseVecT , typename BoxT >

uint lvr2::DMCReconstruction< BaseVecT, BoxT >::m_leaves

protected

Definition at line 270 of file DMCReconstruction.hpp.

◆ m_maxError

template<typename BaseVecT , typename BoxT >

float lvr2::DMCReconstruction< BaseVecT, BoxT >::m_maxError

protected

Definition at line 258 of file DMCReconstruction.hpp.

◆ m_maxLevel

template<typename BaseVecT , typename BoxT >

int lvr2::DMCReconstruction< BaseVecT, BoxT >::m_maxLevel

protected

Definition at line 255 of file DMCReconstruction.hpp.

◆ m_pointHandler

template<typename BaseVecT , typename BoxT >

unique_ptr<DMCPointHandle<BaseVecT> > lvr2::DMCReconstruction< BaseVecT, BoxT >::m_pointHandler

protected

Definition at line 279 of file DMCReconstruction.hpp.

◆ m_progressBar

template<typename BaseVecT , typename BoxT >

ProgressBar* lvr2::DMCReconstruction< BaseVecT, BoxT >::m_progressBar

protected

Definition at line 273 of file DMCReconstruction.hpp.

◆ octree

template<typename BaseVecT , typename BoxT >

C_Octree<BaseVecT, BoxT, my_dummy>* lvr2::DMCReconstruction< BaseVecT, BoxT >::octree

protected

Definition at line 276 of file DMCReconstruction.hpp.

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

DMCReconstruction.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename BaseVecT, typename BoxT> class lvr2::DMCReconstruction< BaseVecT, BoxT >

Constructor & Destructor Documentation

◆ DMCReconstruction()

◆ ~DMCReconstruction()

Member Function Documentation

◆ buildTree()

◆ detectVertexForDualCell()

◆ drawOctree()

◆ edgeEquation()

◆ getDistance() [1/3]

◆ getDistance() [2/3]

◆ getDistance() [3/3]

◆ getDualLeaf()

◆ getMesh() [1/2]

◆ getMesh() [2/2]

◆ getRotationMatrix()

◆ getSurface()

◆ matrixDotVector()

◆ traverseTree()

Member Data Documentation

◆ bb_longestSide

◆ bb_max

◆ bb_min

◆ bb_size

◆ dualVertices

◆ m_boundingBoxCenter

◆ m_dual

◆ m_leaves

◆ m_maxError

◆ m_maxLevel

◆ m_pointHandler

◆ m_progressBar

◆ octree

template<typename BaseVecT, typename BoxT>
class lvr2::DMCReconstruction< BaseVecT, BoxT >