123 lines
4.2 KiB
C
123 lines
4.2 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/surface/marching_cubes.h>
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namespace pcl
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{
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/** \brief The marching cubes surface reconstruction algorithm, using a signed distance function based on radial
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* basis functions. Partially based on:
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* Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R.,
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* "Reconstruction and representation of 3D objects with radial basis functions"
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* SIGGRAPH '01
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*
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* \author Alexandru E. Ichim
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* \ingroup surface
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*/
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template <typename PointNT>
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class MarchingCubesRBF : public MarchingCubes<PointNT>
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{
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public:
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using Ptr = shared_ptr<MarchingCubesRBF<PointNT> >;
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using ConstPtr = shared_ptr<const MarchingCubesRBF<PointNT> >;
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using SurfaceReconstruction<PointNT>::input_;
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using SurfaceReconstruction<PointNT>::tree_;
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using MarchingCubes<PointNT>::grid_;
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using MarchingCubes<PointNT>::res_x_;
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using MarchingCubes<PointNT>::res_y_;
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using MarchingCubes<PointNT>::res_z_;
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using MarchingCubes<PointNT>::size_voxel_;
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using MarchingCubes<PointNT>::upper_boundary_;
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using MarchingCubes<PointNT>::lower_boundary_;
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using PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr;
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using KdTree = pcl::KdTree<PointNT>;
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using KdTreePtr = typename KdTree::Ptr;
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/** \brief Constructor. */
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MarchingCubesRBF (const float off_surface_epsilon = 0.1f,
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const float percentage_extend_grid = 0.0f,
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const float iso_level = 0.0f) :
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MarchingCubes<PointNT> (percentage_extend_grid, iso_level),
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off_surface_epsilon_ (off_surface_epsilon)
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{
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}
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/** \brief Destructor. */
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~MarchingCubesRBF ();
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/** \brief Convert the point cloud into voxel data.
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*/
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void
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voxelizeData () override;
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/** \brief Set the off-surface points displacement value.
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* \param[in] epsilon the value
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*/
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inline void
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setOffSurfaceDisplacement (float epsilon)
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{ off_surface_epsilon_ = epsilon; }
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/** \brief Get the off-surface points displacement value. */
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inline float
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getOffSurfaceDisplacement ()
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{ return off_surface_epsilon_; }
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protected:
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/** \brief the Radial Basis Function kernel. */
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double
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kernel (Eigen::Vector3d c, Eigen::Vector3d x);
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/** \brief The off-surface displacement value. */
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float off_surface_epsilon_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/surface/impl/marching_cubes_rbf.hpp>
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#endif
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