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/PointCloudLibraryThe marching cubes surface reconstruction algorithm, using a signed distance function based on radial basis functions. More...
#include <pcl/surface/marching_cubes_rbf.h>
Public Types | |
| using | Ptr = shared_ptr< MarchingCubesRBF< PointNT > > |
| using | ConstPtr = shared_ptr< const MarchingCubesRBF< PointNT > > |
| using | PointCloudPtr = typename pcl::PointCloud< PointNT >::Ptr |
| using | KdTree = pcl::KdTree< PointNT > |
| using | KdTreePtr = typename KdTree::Ptr |
 Public Types inherited from pcl::MarchingCubes< PointNT >
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| using | Ptr = shared_ptr< MarchingCubes< PointNT > > |
| using | ConstPtr = shared_ptr< const MarchingCubes< PointNT > > |
| using | PointCloudPtr = typename pcl::PointCloud< PointNT >::Ptr |
| using | KdTree = pcl::KdTree< PointNT > |
| using | KdTreePtr = typename KdTree::Ptr |
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Public Types inherited from pcl::SurfaceReconstruction< PointNT >
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| using | Ptr = shared_ptr< SurfaceReconstruction< PointNT > > |
| using | ConstPtr = shared_ptr< const SurfaceReconstruction< PointNT > > |
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Public Types inherited from pcl::PCLSurfaceBase< PointNT >
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| using | Ptr = shared_ptr< PCLSurfaceBase< PointNT > > |
| using | ConstPtr = shared_ptr< const PCLSurfaceBase< PointNT > > |
| using | KdTree = pcl::search::Search< PointNT > |
| using | KdTreePtr = typename KdTree::Ptr |
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Public Types inherited from pcl::PCLBase< PointNT >
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| using | PointCloud = pcl::PointCloud< PointNT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
| MarchingCubesRBF (const float off_surface_epsilon=0.1f, const float percentage_extend_grid=0.0f, const float iso_level=0.0f) | |
| Constructor. More... |
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| ~MarchingCubesRBF () | |
| Destructor. More... |
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| void | voxelizeData () override |
| Convert the point cloud into voxel data. More... |
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| void | setOffSurfaceDisplacement (float epsilon) |
| Set the off-surface points displacement value. More... |
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| float | getOffSurfaceDisplacement () |
| Get the off-surface points displacement value. More... |
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Public Member Functions inherited from pcl::MarchingCubes< PointNT >
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| MarchingCubes (const float percentage_extend_grid=0.0f, const float iso_level=0.0f) | |
| Constructor. More... |
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| ~MarchingCubes () | |
| Destructor. More... |
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| void | setIsoLevel (float iso_level) |
| Method that sets the iso level of the surface to be extracted. More... |
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| float | getIsoLevel () |
| Method that returns the iso level of the surface to be extracted. More... |
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| void | setGridResolution (int res_x, int res_y, int res_z) |
| Method that sets the marching cubes grid resolution. More... |
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| void | getGridResolution (int &res_x, int &res_y, int &res_z) |
| Method to get the marching cubes grid resolution. More... |
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| 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. More... |
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| 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. More... |
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Public Member Functions inherited from pcl::SurfaceReconstruction< PointNT >
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| SurfaceReconstruction () | |
| Constructor. More... |
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| ~SurfaceReconstruction () | |
| Destructor. More... |
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| void | reconstruct (pcl::PolygonMesh &output) override |
| Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More... |
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| virtual void | reconstruct (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) |
| Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More... |
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Public Member Functions inherited from pcl::PCLSurfaceBase< PointNT >
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| PCLSurfaceBase () | |
| Empty constructor. More... |
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| ~PCLSurfaceBase () | |
| Empty destructor. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide an optional pointer to a search object. More... |
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| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. More... |
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Public Member Functions inherited from pcl::PCLBase< PointNT >
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointNT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions | |
| double | kernel (Eigen::Vector3d c, Eigen::Vector3d x) |
| the Radial Basis Function kernel. More... |
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Protected Member Functions inherited from pcl::MarchingCubes< PointNT >
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| void | interpolateEdge (Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output) |
| Interpolate along the voxel edge. More... |
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| void | createSurface (const std::vector< float > &leaf_node, const Eigen::Vector3i &index_3d, pcl::PointCloud< PointNT > &cloud) |
| Calculate out the corresponding polygons in the leaf node. More... |
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| void | getBoundingBox () |
| Get the bounding box for the input data points. More... |
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| virtual float | getGridValue (Eigen::Vector3i pos) |
| Method that returns the scalar value at the given grid position. More... |
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| void | getNeighborList1D (std::vector< float > &leaf, Eigen::Vector3i &index3d) |
| Method that returns the scalar values of the neighbors of a given 3D position in the grid. More... |
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| std::string | getClassName () const override |
| Class get name method. More... |
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| void | performReconstruction (pcl::PolygonMesh &output) override |
| Extract the surface. More... |
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| void | performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) override |
| Extract the surface. More... |
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Protected Member Functions inherited from pcl::PCLSurfaceBase< PointNT >
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| virtual std::string | getClassName () const |
| Abstract class get name method. More... |
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Protected Member Functions inherited from pcl::PCLBase< PointNT >
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes | |
| float | off_surface_epsilon_ |
| The off-surface displacement value. More... |
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Protected Attributes inherited from pcl::MarchingCubes< PointNT >
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| std::vector< float > | grid_ |
| The data structure storing the 3D grid. More... |
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| int | res_x_ = 32 |
| The grid resolution. More... |
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| int | res_y_ = 32 |
| int | res_z_ = 32 |
| Eigen::Array3f | upper_boundary_ |
| bounding box More... |
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| Eigen::Array3f | lower_boundary_ |
| Eigen::Array3f | size_voxel_ |
| size of voxels More... |
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| float | percentage_extend_grid_ |
| 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. More... |
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| float | iso_level_ |
| The iso level to be extracted. More... |
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Protected Attributes inherited from pcl::SurfaceReconstruction< PointNT >
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| bool | check_tree_ |
| A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More... |
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Protected Attributes inherited from pcl::PCLSurfaceBase< PointNT >
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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Protected Attributes inherited from pcl::PCLBase< PointNT >
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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
Definition at line 54 of file marching_cubes_rbf.h.
Member Typedef Documentation
ConstPtr
template<typename PointNT >
| using pcl::MarchingCubesRBF< PointNT >::ConstPtr = shared_ptr<const MarchingCubesRBF<PointNT> > |
Definition at line 58 of file marching_cubes_rbf.h.
KdTree
template<typename PointNT >
| using pcl::MarchingCubesRBF< PointNT >::KdTree = pcl::KdTree<PointNT> |
Definition at line 72 of file marching_cubes_rbf.h.
KdTreePtr
template<typename PointNT >
| using pcl::MarchingCubesRBF< PointNT >::KdTreePtr = typename KdTree::Ptr |
Definition at line 73 of file marching_cubes_rbf.h.
PointCloudPtr
template<typename PointNT >
| using pcl::MarchingCubesRBF< PointNT >::PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr |
Definition at line 70 of file marching_cubes_rbf.h.
Ptr
template<typename PointNT >
| using pcl::MarchingCubesRBF< PointNT >::Ptr = shared_ptr<MarchingCubesRBF<PointNT> > |
Definition at line 57 of file marching_cubes_rbf.h.
Constructor & Destructor Documentation
MarchingCubesRBF()
template<typename PointNT >
| inline |
Constructor.
Definition at line 77 of file marching_cubes_rbf.h.
~MarchingCubesRBF()
template<typename PointNT >
| pcl::MarchingCubesRBF< PointNT >::~MarchingCubesRBF |
Destructor.
Definition at line 46 of file marching_cubes_rbf.hpp.
Member Function Documentation
getOffSurfaceDisplacement()
template<typename PointNT >
| inline |
Get the off-surface points displacement value.
Definition at line 103 of file marching_cubes_rbf.h.
References pcl::MarchingCubesRBF< PointNT >::off_surface_epsilon_.
kernel()
template<typename PointNT >
| protected |
the Radial Basis Function kernel.
Definition at line 110 of file marching_cubes_rbf.hpp.
setOffSurfaceDisplacement()
template<typename PointNT >
| inline |
Set the off-surface points displacement value.
- Parameters
-
[in] epsilon the value
Definition at line 98 of file marching_cubes_rbf.h.
References pcl::MarchingCubesRBF< PointNT >::off_surface_epsilon_.
voxelizeData()
template<typename PointNT >
| overridevirtual |
Convert the point cloud into voxel data.
Implements pcl::MarchingCubes< PointNT >.
Definition at line 52 of file marching_cubes_rbf.hpp.
Member Data Documentation
off_surface_epsilon_
template<typename PointNT >
| protected |
The off-surface displacement value.
Definition at line 113 of file marching_cubes_rbf.h.
Referenced by pcl::MarchingCubesRBF< PointNT >::getOffSurfaceDisplacement(), and pcl::MarchingCubesRBF< PointNT >::setOffSurfaceDisplacement().
The documentation for this class was generated from the following files:
- pcl/surface/marching_cubes_rbf.h
- pcl/surface/impl/marching_cubes_rbf.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_marching_cubes_r_b_f.html