Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::MarchingCubes< PointNT > Class Template Referenceabstract

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 >:

Public Types

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
 
- Public Types inherited from pcl::SurfaceReconstruction< PointNT >
using Ptr = shared_ptr< SurfaceReconstruction< PointNT > >
 
using ConstPtr = shared_ptr< const SurfaceReconstruction< PointNT > >
 
- Public Types inherited from pcl::PCLSurfaceBase< PointInT >
using Ptr = shared_ptr< PCLSurfaceBase< PointInT > >
 
using ConstPtr = shared_ptr< const PCLSurfaceBase< PointInT > >
 
using KdTree = pcl::search::Search< PointInT >
 
using KdTreePtr = typename KdTree::Ptr
 
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 MarchingCubes (const float percentage_extend_grid=0.0f, const float iso_level=0.0f)
 Constructor. More...
 
 ~MarchingCubes () override
 Destructor. More...
 
void setIsoLevel (float iso_level)
 Method that sets the iso level of the surface to be extracted. More...
 
float getIsoLevel ()
 Method that returns the iso level of the surface to be extracted. More...
 
void setGridResolution (int res_x, int res_y, int res_z)
 Method that sets the marching cubes grid resolution. More...
 
void getGridResolution (int &res_x, int &res_y, int &res_z)
 Method to get the marching cubes grid resolution. More...
 
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...
 
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...
 
- Public Member Functions inherited from pcl::SurfaceReconstruction< PointNT >
 SurfaceReconstruction ()=default
 Constructor. More...
 
 ~SurfaceReconstruction () override=default
 Destructor. More...
 
void reconstruct (pcl::PolygonMesh &output) override
 Base method for surface reconstruction for all points given in <setInputCloud (), setIndices ()> More...
 
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...
 
- Public Member Functions inherited from pcl::PCLSurfaceBase< PointInT >
 PCLSurfaceBase ()
 Empty constructor. More...
 
 ~PCLSurfaceBase () override=default
 Empty destructor. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide an optional pointer to a search object. More...
 
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
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...
 
IndicesPtr getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual void voxelizeData ()=0
 Convert the point cloud into voxel data. More...
 
void interpolateEdge (Eigen::Vector3f &p1, Eigen::Vector3f &p2, float val_p1, float val_p2, Eigen::Vector3f &output)
 Interpolate along the voxel edge. More...
 
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...
 
void getBoundingBox ()
 Get the bounding box for the input data points. More...
 
virtual float getGridValue (Eigen::Vector3i pos)
 Method that returns the scalar value at the given grid position. More...
 
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...
 
std::string getClassName () const override
 Class get name method. More...
 
void performReconstruction (pcl::PolygonMesh &output) override
 Extract the surface. More...
 
void performReconstruction (pcl::PointCloud< PointNT > &points, std::vector< pcl::Vertices > &polygons) override
 Extract the surface. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

std::vector< float > grid_
 The data structure storing the 3D grid. More...
 
int res_x_ = 32
 The grid resolution. More...
 
int res_y_ = 32
 
int res_z_ = 32
 
Eigen::Array3f upper_boundary_
 bounding box More...
 
Eigen::Array3f lower_boundary_
 
Eigen::Array3f size_voxel_
 size of voxels More...
 
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...
 
float iso_level_
 The iso level to be extracted. More...
 
- Protected Attributes inherited from pcl::SurfaceReconstruction< PointNT >
bool check_tree_
 A flag specifying whether or not the derived reconstruction algorithm needs the search object tree. More...
 
- Protected Attributes inherited from pcl::PCLSurfaceBase< PointInT >
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

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

The marching cubes surface reconstruction algorithm.

This is an abstract class that takes a grid and extracts the isosurface as a mesh, based on the original marching cubes paper:

Lorensen W.E., Cline H.E., "Marching cubes: A high resolution 3d surface construction algorithm", SIGGRAPH '87

Template Parameters
PointNTUse pcl::PointNormal or pcl::PointXYZRGBNormal or pcl::PointXYZINormal
Author
Alexandru E. Ichim

Definition at line 364 of file marching_cubes.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointNT >
using pcl::MarchingCubes< PointNT >::ConstPtr = shared_ptr<const MarchingCubes<PointNT> >

Definition at line 368 of file marching_cubes.h.

◆ KdTree

template<typename PointNT >
using pcl::MarchingCubes< PointNT >::KdTree = pcl::KdTree<PointNT>

Definition at line 375 of file marching_cubes.h.

◆ KdTreePtr

template<typename PointNT >
using pcl::MarchingCubes< PointNT >::KdTreePtr = typename KdTree::Ptr

Definition at line 376 of file marching_cubes.h.

◆ PointCloudPtr

template<typename PointNT >
using pcl::MarchingCubes< PointNT >::PointCloudPtr = typename pcl::PointCloud<PointNT>::Ptr

Definition at line 373 of file marching_cubes.h.

◆ Ptr

template<typename PointNT >
using pcl::MarchingCubes< PointNT >::Ptr = shared_ptr<MarchingCubes<PointNT> >

Definition at line 367 of file marching_cubes.h.

Constructor & Destructor Documentation

◆ MarchingCubes()

template<typename PointNT >
pcl::MarchingCubes< PointNT >::MarchingCubes ( const float  percentage_extend_grid = 0.0f,
const float  iso_level = 0.0f 
)
inline

Constructor.

Definition at line 379 of file marching_cubes.h.

◆ ~MarchingCubes()

template<typename PointNT >
pcl::MarchingCubes< PointNT >::~MarchingCubes ( )
overridedefault

Destructor.

Member Function Documentation

◆ createSurface()

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::createSurface ( const std::vector< float > &  leaf_node,
const Eigen::Vector3i &  index_3d,
pcl::PointCloud< PointNT > &  cloud 
)
protected

Calculate out the corresponding polygons in the leaf node.

Parameters
leaf_nodethe leaf node to be checked
index_3dthe 3d index of the leaf node to be checked
cloudpoint cloud to store the vertices of the polygon

Definition at line 81 of file marching_cubes.hpp.

References pcl::edgeTable, pcl::PointCloud< PointT >::push_back(), and pcl::triTable.

◆ getBoundingBox()

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::getBoundingBox
protected

Get the bounding box for the input data points.

Definition at line 50 of file marching_cubes.hpp.

References pcl::getMinMax3D().

◆ getClassName()

template<typename PointNT >
std::string pcl::MarchingCubes< PointNT >::getClassName ( ) const
inlineoverrideprotectedvirtual

Class get name method.

Reimplemented from pcl::PCLSurfaceBase< PointInT >.

Definition at line 505 of file marching_cubes.h.

◆ getGridResolution()

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::getGridResolution ( int &  res_x,
int &  res_y,
int &  res_z 
)
inline

Method to get the marching cubes grid resolution.

Parameters
[in]res_xthe resolution of the grid along the x-axis
[in]res_ythe resolution of the grid along the y-axis
[in]res_zthe resolution of the grid along the z-axis

Definition at line 417 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::res_x_, pcl::MarchingCubes< PointNT >::res_y_, and pcl::MarchingCubes< PointNT >::res_z_.

◆ getGridValue()

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::getGridValue ( Eigen::Vector3i  pos)
protectedvirtual

Method that returns the scalar value at the given grid position.

Parameters
[in]posThe 3D position in the grid

TODO what to return?

Definition at line 190 of file marching_cubes.hpp.

◆ getIsoLevel()

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::getIsoLevel ( )
inline

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

Definition at line 399 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::iso_level_.

◆ getNeighborList1D()

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::getNeighborList1D ( std::vector< float > &  leaf,
Eigen::Vector3i &  index3d 
)
protected

Method that returns the scalar values of the neighbors of a given 3D position in the grid.

Parameters
[in]index3dthe point in the grid
[out]leafthe set of values

Definition at line 163 of file marching_cubes.hpp.

◆ getPercentageExtendGrid()

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::getPercentageExtendGrid ( )
inline

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 434 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::percentage_extend_grid_.

◆ interpolateEdge()

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::interpolateEdge ( Eigen::Vector3f &  p1,
Eigen::Vector3f &  p2,
float  val_p1,
float  val_p2,
Eigen::Vector3f &  output 
)
protected

Interpolate along the voxel edge.

Parameters
[in]p1The first point on the edge
[in]p2The second point on the edge
[in]val_p1The scalar value at p1
[in]val_p2The scalar value at p2
[out]outputThe interpolated point along the edge

Definition at line 68 of file marching_cubes.hpp.

◆ performReconstruction() [1/2]

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::performReconstruction ( pcl::PointCloud< PointNT > &  points,
std::vector< pcl::Vertices > &  polygons 
)
overrideprotectedvirtual

Extract the surface.

Parameters
[out]pointsthe points of the extracted mesh
[out]polygonsthe connectivity between the point of the extracted mesh.

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 218 of file marching_cubes.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::reserve(), pcl::PointCloud< PointT >::size(), pcl::PointCloud< PointT >::swap(), and pcl::Vertices::vertices.

◆ performReconstruction() [2/2]

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::performReconstruction ( pcl::PolygonMesh output)
overrideprotectedvirtual

Extract the surface.

Parameters
[out]outputthe resultant polygonal mesh

Implements pcl::SurfaceReconstruction< PointNT >.

Definition at line 206 of file marching_cubes.hpp.

References pcl::PolygonMesh::cloud, pcl::PolygonMesh::polygons, and pcl::toPCLPointCloud2().

◆ setGridResolution()

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::setGridResolution ( int  res_x,
int  res_y,
int  res_z 
)
inline

Method that sets the marching cubes grid resolution.

Parameters
[in]res_xthe resolution of the grid along the x-axis
[in]res_ythe resolution of the grid along the y-axis
[in]res_zthe resolution of the grid along the z-axis

Definition at line 408 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::res_x_, pcl::MarchingCubes< PointNT >::res_y_, and pcl::MarchingCubes< PointNT >::res_z_.

◆ setIsoLevel()

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::setIsoLevel ( float  iso_level)
inline

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

Parameters
[in]iso_levelthe iso level.

Definition at line 394 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::iso_level_.

◆ setPercentageExtendGrid()

template<typename PointNT >
void pcl::MarchingCubes< PointNT >::setPercentageExtendGrid ( float  percentage)
inline

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

Definition at line 427 of file marching_cubes.h.

References pcl::MarchingCubes< PointNT >::percentage_extend_grid_.

◆ voxelizeData()

template<typename PointNT >
virtual void pcl::MarchingCubes< PointNT >::voxelizeData ( )
protectedpure virtual

Convert the point cloud into voxel data.

Implemented in pcl::MarchingCubesRBF< PointNT >, and pcl::MarchingCubesHoppe< PointNT >.

Member Data Documentation

◆ grid_

template<typename PointNT >
std::vector<float> pcl::MarchingCubes< PointNT >::grid_
protected

The data structure storing the 3D grid.

Definition at line 439 of file marching_cubes.h.

◆ iso_level_

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::iso_level_
protected

The iso level to be extracted.

Definition at line 456 of file marching_cubes.h.

Referenced by pcl::MarchingCubes< PointNT >::getIsoLevel(), and pcl::MarchingCubes< PointNT >::setIsoLevel().

◆ lower_boundary_

template<typename PointNT >
Eigen::Array3f pcl::MarchingCubes< PointNT >::lower_boundary_
protected

Definition at line 446 of file marching_cubes.h.

◆ percentage_extend_grid_

template<typename PointNT >
float pcl::MarchingCubes< PointNT >::percentage_extend_grid_
protected

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 453 of file marching_cubes.h.

Referenced by pcl::MarchingCubes< PointNT >::getPercentageExtendGrid(), and pcl::MarchingCubes< PointNT >::setPercentageExtendGrid().

◆ res_x_

template<typename PointNT >
int pcl::MarchingCubes< PointNT >::res_x_ = 32
protected

◆ res_y_

template<typename PointNT >
int pcl::MarchingCubes< PointNT >::res_y_ = 32
protected

◆ res_z_

template<typename PointNT >
int pcl::MarchingCubes< PointNT >::res_z_ = 32
protected

◆ size_voxel_

template<typename PointNT >
Eigen::Array3f pcl::MarchingCubes< PointNT >::size_voxel_
protected

size of voxels

Definition at line 449 of file marching_cubes.h.

◆ upper_boundary_

template<typename PointNT >
Eigen::Array3f pcl::MarchingCubes< PointNT >::upper_boundary_
protected

bounding box

Definition at line 445 of file marching_cubes.h.


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