92 lines
3.2 KiB
C++
92 lines
3.2 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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#ifndef PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
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#define PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
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#include <pcl/surface/marching_cubes_hoppe.h>
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointNT>
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pcl::MarchingCubesHoppe<PointNT>::~MarchingCubesHoppe ()
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{
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointNT> void
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pcl::MarchingCubesHoppe<PointNT>::voxelizeData ()
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{
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const bool is_far_ignored = dist_ignore_ > 0.0f;
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for (int x = 0; x < res_x_; ++x)
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{
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const int y_start = x * res_y_ * res_z_;
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for (int y = 0; y < res_y_; ++y)
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{
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const int z_start = y_start + y * res_z_;
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for (int z = 0; z < res_z_; ++z)
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{
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pcl::Indices nn_indices (1, 0);
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std::vector<float> nn_sqr_dists (1, 0.0f);
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const Eigen::Vector3f point = (lower_boundary_ + size_voxel_ * Eigen::Array3f (x, y, z)).matrix ();
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PointNT p;
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p.getVector3fMap () = point;
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tree_->nearestKSearch (p, 1, nn_indices, nn_sqr_dists);
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if (!is_far_ignored || nn_sqr_dists[0] < dist_ignore_)
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{
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const Eigen::Vector3f normal = (*input_)[nn_indices[0]].getNormalVector3fMap ();
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if (!std::isnan (normal (0)) && normal.norm () > 0.5f)
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grid_[z_start + z] = normal.dot (
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point - (*input_)[nn_indices[0]].getVector3fMap ());
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}
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}
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}
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}
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}
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#define PCL_INSTANTIATE_MarchingCubesHoppe(T) template class PCL_EXPORTS pcl::MarchingCubesHoppe<T>;
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#endif // PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_
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