Point Cloud Library (PCL) 1.12.1
marching_cubes.h
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37
38#pragma once
39
40#include <pcl/memory.h>
41#include <pcl/pcl_macros.h>
42#include <pcl/gpu/containers/device_array.h>
43#include <Eigen/Core>
44
45namespace pcl
46{
47 namespace gpu
48 {
49 class TsdfVolume;
50
51 /** \brief MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU
52 * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
53 */
55 {
56 public:
57
58 /** \brief Default size for triangles buffer */
59 enum
60 {
61 POINTS_PER_TRIANGLE = 3,
62 DEFAULT_TRIANGLES_BUFFER_SIZE = 2 * 1000 * 1000 * POINTS_PER_TRIANGLE
63 };
64
65 /** \brief Point type. */
67
68 /** \brief Smart pointer. */
69 using Ptr = shared_ptr<MarchingCubes>;
70 using ConstPtr = shared_ptr<const MarchingCubes>;
71
72 /** \brief Default constructor */
74
75 /** \brief Destructor */
77
78 /** \brief Runs marching cubes triangulation.
79 * \param[in] tsdf
80 * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size to be used.
81 * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
82 */
84 run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
85
86 private:
87 /** \brief Edge table for marching cubes */
88 DeviceArray<int> edgeTable_;
89
90 /** \brief Number of vertices table for marching cubes */
91 DeviceArray<int> numVertsTable_;
92
93 /** \brief Triangles table for marching cubes */
94 DeviceArray<int> triTable_;
95
96 /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
97 DeviceArray2D<int> occupied_voxels_buffer_;
98 };
99 }
100}
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU.
~MarchingCubes()
Destructor.
DeviceArray< PointType > run(const TsdfVolume &tsdf, DeviceArray< PointType > &triangles_buffer)
Runs marching cubes triangulation.
MarchingCubes()
Default constructor.
shared_ptr< MarchingCubes > Ptr
Smart pointer.
shared_ptr< const MarchingCubes > ConstPtr
TsdfVolume class.
Definition: tsdf_volume.h:56
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
A point structure representing Euclidean xyz coordinates.