thirdParty/PCL 1.12.0/include/pcl-1.12/pcl/surface/impl/marching_cubes_rbf.hpp

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef PCL_SURFACE_IMPL_MARCHING_CUBES_RBF_H_
#define PCL_SURFACE_IMPL_MARCHING_CUBES_RBF_H_

#include <pcl/surface/marching_cubes_rbf.h>

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointNT>
pcl::MarchingCubesRBF<PointNT>::~MarchingCubesRBF ()
{
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointNT> void
pcl::MarchingCubesRBF<PointNT>::voxelizeData ()
{
  // Initialize data structures
  const unsigned int N = static_cast<unsigned int> (input_->size ());
  Eigen::MatrixXd M (2*N, 2*N),
                  d (2*N, 1);

  for (unsigned int row_i = 0; row_i < 2*N; ++row_i)
  {
    // boolean variable to determine whether we are in the off_surface domain for the rows
    bool row_off = (row_i >= N);
    for (unsigned int col_i = 0; col_i < 2*N; ++col_i)
    {
      // boolean variable to determine whether we are in the off_surface domain for the columns
      bool col_off = (col_i >= N);
      M (row_i, col_i) = kernel (Eigen::Vector3f ((*input_)[col_i%N].getVector3fMap ()).cast<double> () + Eigen::Vector3f ((*input_)[col_i%N].getNormalVector3fMap ()).cast<double> () * col_off * off_surface_epsilon_,
                                 Eigen::Vector3f ((*input_)[row_i%N].getVector3fMap ()).cast<double> () + Eigen::Vector3f ((*input_)[row_i%N].getNormalVector3fMap ()).cast<double> () * row_off * off_surface_epsilon_);
    }

    d (row_i, 0) = row_off * off_surface_epsilon_;
  }

  // Solve for the weights
  Eigen::MatrixXd w (2*N, 1);

  // Solve_linear_system (M, d, w);
  w = M.fullPivLu ().solve (d);

  std::vector<double> weights (2*N);
  std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > centers (2*N);
  for (unsigned int i = 0; i < N; ++i)
  {
    centers[i] = Eigen::Vector3f ((*input_)[i].getVector3fMap ()).cast<double> ();
    centers[i + N] = Eigen::Vector3f ((*input_)[i].getVector3fMap ()).cast<double> () + Eigen::Vector3f ((*input_)[i].getNormalVector3fMap ()).cast<double> () * off_surface_epsilon_;
    weights[i] = w (i, 0);
    weights[i + N] = w (i + N, 0);
  }

  for (int x = 0; x < res_x_; ++x)
    for (int y = 0; y < res_y_; ++y)
      for (int z = 0; z < res_z_; ++z)
      {
        const Eigen::Vector3f point_f = (size_voxel_ * Eigen::Array3f (x, y, z) 
            + lower_boundary_).matrix ();
        const Eigen::Vector3d point = point_f.cast<double> ();

        double f = 0.0;
        std::vector<double>::const_iterator w_it (weights.begin());
        for (std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> >::const_iterator c_it = centers.begin ();
             c_it != centers.end (); ++c_it, ++w_it)
          f += *w_it * kernel (*c_it, point);

        grid_[x * res_y_*res_z_ + y * res_z_ + z] = float (f);
      }
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointNT> double
pcl::MarchingCubesRBF<PointNT>::kernel (Eigen::Vector3d c, Eigen::Vector3d x)
{
  double r = (x - c).norm ();
  return (r * r * r);
}

#define PCL_INSTANTIATE_MarchingCubesRBF(T) template class PCL_EXPORTS pcl::MarchingCubesRBF<T>;

#endif    // PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_