121 lines
4.5 KiB
C++
121 lines
4.5 KiB
C++
/*
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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 the distance
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* from tangent planes, proposed by Hoppe et. al. in:
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* Hoppe H., DeRose T., Duchamp T., MC-Donald J., Stuetzle W., "Surface reconstruction from unorganized points",
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* SIGGRAPH '92
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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 MarchingCubesHoppe : public MarchingCubes<PointNT>
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{
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public:
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using Ptr = shared_ptr<MarchingCubesHoppe<PointNT> >;
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using ConstPtr = shared_ptr<const MarchingCubesHoppe<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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MarchingCubesHoppe (const float dist_ignore = -1.0f,
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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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dist_ignore_ (dist_ignore)
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{
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}
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/** \brief Destructor. */
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~MarchingCubesHoppe ();
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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 Method that sets the distance for ignoring voxels which are far from point cloud.
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* If the distance is negative, then the distance functions would be calculated in all voxels;
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* otherwise, only voxels with distance lower than dist_ignore would be involved in marching cube.
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* \param[in] dist_ignore threshold of distance. Default value is -1.0. Set to negative if all voxels are
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* to be involved.
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*/
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inline void
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setDistanceIgnore (const float dist_ignore)
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{ dist_ignore_ = dist_ignore; }
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/** \brief get the distance for ignoring voxels which are far from point cloud.
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* */
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inline float
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getDistanceIgnore () const
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{ return dist_ignore_; }
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protected:
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/** \brief ignore the distance function
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* if it is negative
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* or distance between voxel centroid and point are larger that it. */
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float dist_ignore_;
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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_hoppe.hpp>
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#endif
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