The marching cubes surface reconstruction algorithm, using a signed distance function based on radial basis functions. More...

#include <pcl/surface/marching_cubes_rbf.h>

Inheritance diagram for pcl::MarchingCubesRBF< PointNT >:

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Collaboration diagram for pcl::MarchingCubesRBF< PointNT >:

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List of all members.

Public Types
typedef pcl::PointCloud < PointNT >::Ptr	PointCloudPtr
typedef pcl::KdTree< PointNT >	KdTree
typedef pcl::KdTree< PointNT >::Ptr	KdTreePtr
typedef pcl::PointCloud< PointNT >	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	MarchingCubesRBF ()
	Constructor.
	~MarchingCubesRBF ()
	Destructor.
void	voxelizeData ()
	Convert the point cloud into voxel data.
void	setOffSurfaceDisplacement (float epsilon)
	Set the off-surface points displacement value.
float	getOffSurfaceDisplacement ()
	Get the off-surface points displacement value.
void	setIsoLevel (float iso_level)
	Method that sets the iso level of the surface to be extracted.
float	getIsoLevel ()
	Method that returns the iso level of the surface to be extracted.
void	setGridResolution (int res_x, int res_y, int res_z)
	Method that sets the marching cubes grid resolution.
void	getGridResolution (int &res_x, int &res_y, int &res_z)
	Method to get the marching cubes grid resolution.
void	setPercentageExtendGrid (float percentage)
	Method that sets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits.
float	getPercentageExtendGrid ()
	Method that gets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box.
virtual void	reconstruct (pcl::PolygonMesh &output)
	Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()>
virtual 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::MarchingCubesRBF< PointNT >

The marching cubes surface reconstruction algorithm, using a signed distance function based on radial basis functions.

Partially based on: Carr J.C., Beatson R.K., Cherrie J.B., Mitchell T.J., Fright W.R., McCallum B.C. and Evans T.R., "Reconstruction and representation of 3D objects with radial basis functions" SIGGRAPH '01

Author:: Alexandru E. Ichim

Definition at line 54 of file marching_cubes_rbf.h.

Member Typedef Documentation

template<typename PointNT >

typedef pcl::KdTree<PointNT> pcl::MarchingCubesRBF< PointNT >::KdTree

Reimplemented from pcl::MarchingCubes< PointNT >.

Definition at line 68 of file marching_cubes_rbf.h.

template<typename PointNT >

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

Reimplemented from pcl::MarchingCubes< PointNT >.

Definition at line 69 of file marching_cubes_rbf.h.

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

Definition at line 74 of file pcl_base.h.

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

Definition at line 76 of file pcl_base.h.

template<typename PointNT >

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

Reimplemented from pcl::MarchingCubes< PointNT >.

Definition at line 66 of file marching_cubes_rbf.h.

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

Definition at line 79 of file pcl_base.h.

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

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointNT >

pcl::MarchingCubesRBF< PointNT >::MarchingCubesRBF ( )

Constructor.

Definition at line 47 of file marching_cubes_rbf.hpp.

template<typename PointNT >

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

Destructor.

Definition at line 55 of file marching_cubes_rbf.hpp.

Member Function Documentation

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::getGridResolution	(	int &	res_x,
		int &	res_y,
		int &	res_z
	)		`[inline, inherited]`

Method to get the marching cubes grid resolution.

Parameters:

[in]	res_x	the resolution of the grid along the x-axis
[in]	res_y	the resolution of the grid along the y-axis
[in]	res_z	the resolution of the grid along the z-axis

Definition at line 410 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 190 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 107 of file pcl_base.h.

template<typename PointNT >

float pcl::MarchingCubes< PointNT >::getIsoLevel ( ) [inline, inherited]

Method that returns the iso level of the surface to be extracted.

Definition at line 391 of file marching_cubes.h.

template<typename PointNT >

float pcl::MarchingCubesRBF< PointNT >::getOffSurfaceDisplacement ( ) [inline]

Get the off-surface points displacement value.

Definition at line 92 of file marching_cubes_rbf.h.

template<typename PointNT >

float pcl::MarchingCubes< PointNT >::getPercentageExtendGrid ( ) [inline, inherited]

Method that gets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits, as a percentage of the bounding box.

Definition at line 427 of file marching_cubes.h.

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

Get a pointer to the search method used.

Definition at line 82 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 197 of file pcl_base.h.

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

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

Parameters:

[out] output the resultant reconstructed surface model

Implements pcl::PCLSurfaceBase< PointNT >.

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

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::setGridResolution	(	int	res_x,
		int	res_y,
		int	res_z
	)		`[inline, inherited]`

Method that sets the marching cubes grid resolution.

Parameters:

[in]	res_x	the resolution of the grid along the x-axis
[in]	res_y	the resolution of the grid along the y-axis
[in]	res_z	the resolution of the grid along the z-axis

Definition at line 400 of file marching_cubes.h.

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 113 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 124 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 135 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 151 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 103 of file pcl_base.h.

template<typename PointNT >

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

Method that sets the iso level of the surface to be extracted.

Parameters:

[in] iso_level the iso level.

Definition at line 386 of file marching_cubes.h.

template<typename PointNT >

void pcl::MarchingCubesRBF< PointNT >::setOffSurfaceDisplacement ( float epsilon ) [inline]

Set the off-surface points displacement value.

Parameters:

[in] epsilon the value

Definition at line 87 of file marching_cubes_rbf.h.

template<typename PointNT >

void pcl::MarchingCubes< PointNT >::setPercentageExtendGrid ( float percentage ) [inline, inherited]

Method that sets the parameter that defines how much free space should be left inside the grid between the bounding box of the point cloud and the grid limits.

Does not affect the resolution of the grid, it just changes the voxel size accordingly.

Parameters:

[in] percentage the percentage of the bounding box that should be left empty between the bounding box and the grid limits.

Definition at line 420 of file marching_cubes.h.

void pcl::PCLSurfaceBase< 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 75 of file reconstruction.h.

template<typename PointNT >

void pcl::MarchingCubesRBF< PointNT >::voxelizeData ( ) [virtual]

Convert the point cloud into voxel data.

Implements pcl::MarchingCubes< PointNT >.

Definition at line 62 of file marching_cubes_rbf.hpp.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/marching_cubes_rbf.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/surface/include/pcl/surface/impl/marching_cubes_rbf.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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