The marching cubes surface reconstruction algorithm. More...

#include <pcl/surface/marching_cubes.h>

Inheritance diagram for pcl::MarchingCubes< PointNT >:

Collaboration diagram for pcl::MarchingCubes< PointNT >:

Classes
struct	Leaf
	Simple structure to hold a voxel. More...
Public Types
typedef pcl::PointCloud < PointNT >::Ptr	PointCloudPtr
typedef pcl::KdTree< PointNT >	KdTree
typedef pcl::KdTree< PointNT >::Ptr	KdTreePtr
typedef boost::unordered_map < uint64_t, Leaf, boost::hash < uint64_t >, std::equal_to < uint64_t > , Eigen::aligned_allocator < uint64_t > >	HashMap
typedef pcl::PointCloud< PointNT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	MarchingCubes ()
	Constructor.
	~MarchingCubes ()
	Destructor.
void	setLeafSize (double leaf_size)
	set the voxel size.
void	setIsoLevel (float iso_level)
	set the iso level.
void	getCellIndex (const Eigen::Vector4f &p, Eigen::Vector3i &index) const
	Get the 3d index (x,y,z) of the cell based on the location of the cell.
uint64_t	getIndexIn1D (const Eigen::Vector3i &index) const
	Given an index (x, y, z) in 3d, translate it into the index in 1d.
void	getIndexIn3D (uint64_t index_1d, Eigen::Vector3i &index_3d) const
	Given an index in 1d, translate it into the index (x, y, z) in 3d.
void	getNeighborList1D (Leaf leaf, Eigen::Vector3i &index3d, HashMap &neighbor_list)
	Given a voxel index, get all the neighbors indexes in 1D.
void	getCellCenterFromIndex (const Eigen::Vector3i &index, Eigen::Vector4f &center) const
	Given the 3d index (x, y, z) of the cell, get the coordinates of the cell center.
void	performReconstruction (pcl::PolygonMesh &output)
	Create the surface.
void	reconstruct (pcl::PolygonMesh &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
void	reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
void	setSearchMethod (const KdTreePtr &tree)
	Provide an optional pointer to a search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointNT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointNT>
class pcl::MarchingCubes< PointNT >

The marching cubes surface reconstruction algorithm.

Author:: Gregory Long

Definition at line 358 of file marching_cubes.h.

Member Typedef Documentation

template<typename PointNT>

typedef boost::unordered_map<uint64_t, Leaf, boost::hash<uint64_t>, std::equal_to<uint64_t>, Eigen::aligned_allocator<uint64_t> > pcl::MarchingCubes< PointNT >::HashMap

Reimplemented in pcl::MarchingCubesGreedy< PointNT >, and pcl::MarchingCubesGreedyDot< PointNT >.

Definition at line 376 of file marching_cubes.h.

template<typename PointNT>

typedef pcl::KdTree<PointNT> pcl::MarchingCubes< PointNT >::KdTree

Reimplemented from pcl::SurfaceReconstruction< PointNT >.

Reimplemented in pcl::MarchingCubesGreedy< PointNT >, and pcl::MarchingCubesGreedyDot< PointNT >.

Definition at line 366 of file marching_cubes.h.

template<typename PointNT>

typedef pcl::KdTree<PointNT>::Ptr pcl::MarchingCubes< PointNT >::KdTreePtr

Reimplemented from pcl::SurfaceReconstruction< PointNT >.

Reimplemented in pcl::MarchingCubesGreedy< PointNT >, and pcl::MarchingCubesGreedyDot< PointNT >.

Definition at line 367 of file marching_cubes.h.

typedef pcl::PointCloud<PointNT > pcl::PCLBase< PointNT >::PointCloud [inherited]

Definition at line 76 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointNT >::PointCloudConstPtr [inherited]

Definition at line 78 of file pcl_base.h.

template<typename PointNT>

typedef pcl::PointCloud<PointNT>::Ptr pcl::MarchingCubes< PointNT >::PointCloudPtr

Reimplemented from pcl::PCLBase< PointNT >.

Reimplemented in pcl::MarchingCubesGreedy< PointNT >, and pcl::MarchingCubesGreedyDot< PointNT >.

Definition at line 364 of file marching_cubes.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointNT >::PointIndicesConstPtr [inherited]

Definition at line 81 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointNT >::PointIndicesPtr [inherited]

Definition at line 80 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointNT >

pcl::MarchingCubes< PointNT >::MarchingCubes ( )

Constructor.

Definition at line 47 of file marching_cubes.hpp.

template<typename PointNT >

pcl::MarchingCubes< PointNT >::~MarchingCubes ( )

Destructor.

Definition at line 52 of file marching_cubes.hpp.

Member Function Documentation

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::getCellCenterFromIndex	(	const Eigen::Vector3i &	index,
		Eigen::Vector4f &	center
	)		const `[inline]`

Given the 3d index (x, y, z) of the cell, get the coordinates of the cell center.

Parameters:

index	the output 3d index
center	the resultant cell center

Definition at line 455 of file marching_cubes.h.

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::getCellIndex	(	const Eigen::Vector4f &	p,
		Eigen::Vector3i &	index
	)		const `[inline]`

Get the 3d index (x,y,z) of the cell based on the location of the cell.

Parameters:

p	the coordinate of the input point
index	the output 3d index

Definition at line 409 of file marching_cubes.h.

template<typename PointNT>

uint64_t pcl::MarchingCubes< PointNT >::getIndexIn1D ( const Eigen::Vector3i & index ) const [inline]

Given an index (x, y, z) in 3d, translate it into the index in 1d.

Parameters:

index the index of the cell in (x,y,z) 3d format

Definition at line 420 of file marching_cubes.h.

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::getIndexIn3D	(	uint64_t	index_1d,
		Eigen::Vector3i &	index_3d
	)		const `[inline]`

Given an index in 1d, translate it into the index (x, y, z) in 3d.

Parameters:

index_1d	the input 1d index
index_3d	the output 3d index

Definition at line 433 of file marching_cubes.h.

IndicesPtr const pcl::PCLBase< PointNT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 192 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointNT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 109 of file pcl_base.h.

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::getNeighborList1D	(	Leaf	leaf,
		Eigen::Vector3i &	index3d,
		HashMap &	neighbor_list
	)

Given a voxel index, get all the neighbors indexes in 1D.

Definition at line 190 of file marching_cubes.hpp.

KdTreePtr pcl::SurfaceReconstruction< PointNT >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 111 of file reconstruction.h.

const PointNT & pcl::PCLBase< PointNT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 199 of file pcl_base.h.

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::performReconstruction ( pcl::PolygonMesh & output ) [virtual]

Create the surface.

More details here.

Parameters:

output the resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 280 of file marching_cubes.hpp.

void pcl::SurfaceReconstruction< PointNT >::reconstruct ( pcl::PolygonMesh & output ) [inherited]

Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>

Parameters:

[out] output the resultant reconstructed surface model

void pcl::SurfaceReconstruction< PointNT >::reconstruct	(	pcl::PointCloud< PointNT > &	points,
		std::vector< pcl::Vertices > &	polygons
	)		`[inherited]`

Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>

Parameters:

[out]	points	the resultant points lying on the new surface
[out]	polygons	the resultant polygons, as a set of vertices. The Vertices structure contains an array of point indices.

void pcl::PCLBase< PointNT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 115 of file pcl_base.h.

void pcl::PCLBase< PointNT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 126 of file pcl_base.h.

void pcl::PCLBase< PointNT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 137 of file pcl_base.h.

void pcl::PCLBase< PointNT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 153 of file pcl_base.h.

virtual void pcl::PCLBase< PointNT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 105 of file pcl_base.h.

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::setIsoLevel ( float iso_level ) [inline]

set the iso level.

Parameters:

iso_level the iso level.

Definition at line 398 of file marching_cubes.h.

template<typename PointNT>

void pcl::MarchingCubes< PointNT >::setLeafSize ( double leaf_size ) [inline]

set the voxel size.

Parameters:

[in] leaf_size the size of the voxel

Definition at line 389 of file marching_cubes.h.

void pcl::SurfaceReconstruction< PointNT >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide an optional pointer to a search object.

Parameters:

[in] tree a pointer to the spatial search object.

Definition at line 104 of file reconstruction.h.

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

/builddir/build/BUILD/PCL-1.4.0-Source/surface/include/pcl/surface/marching_cubes.h
/builddir/build/BUILD/PCL-1.4.0-Source/surface/include/pcl/surface/impl/marching_cubes.hpp

Classes

Public Types

Public Member Functions

Detailed Description

template<typename PointNT> class pcl::MarchingCubes< PointNT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointNT>
class pcl::MarchingCubes< PointNT >