Point Cloud Library (PCL) 1.15.0
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marching_cubes.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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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//#include <boost/graph/buffer_concepts.hpp>
45
46
47namespace pcl
48{
49 namespace gpu
50 {
51 namespace kinfuLS
52 {
53 class TsdfVolume;
54
55 /** \brief MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU
56 * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
57 */
58 class PCL_EXPORTS MarchingCubes
59 {
60 public:
61
62 /** \brief Default size for triangles buffer */
63 enum
64 {
65 POINTS_PER_TRIANGLE = 3,
66 DEFAULT_TRIANGLES_BUFFER_SIZE = 2 * 1000 * 1000 * POINTS_PER_TRIANGLE * 2
67 };
68
69 /** \brief Point type. */
71
72 /** \brief Smart pointer. */
73 using Ptr = shared_ptr<MarchingCubes>;
74 using ConstPtr = shared_ptr<const MarchingCubes>;
75
76 /** \brief Default constructor */
78
79 /** \brief Runs marching cubes triangulation.
80 * \param[in] tsdf
81 * \param[in] triangles_buffer Buffer for triangles. Its size determines max extracted triangles. If empty, it will be allocated with default size will be used.
82 * \return Array with triangles. Each 3 consequent points belong to a single triangle. The returned array points to 'triangles_buffer' data.
83 */
85 run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
86
87 private:
88 /** \brief Edge table for marching cubes */
89 DeviceArray<int> edgeTable_;
90
91 /** \brief Number of vertices table for marching cubes */
92 DeviceArray<int> numVertsTable_;
93
94 /** \brief Triangles table for marching cubes */
95 DeviceArray<int> triTable_;
96
97 /** \brief Temporary buffer used by marching cubes (first row stores occupied voxel id, second number of vertices, third points offsets */
98 DeviceArray2D<int> occupied_voxels_buffer_;
99 };
100 }
101 }
102}
DeviceArray2D class
DeviceArray class
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU.
shared_ptr< MarchingCubes > Ptr
Smart pointer.
DeviceArray< PointType > run(const TsdfVolume &tsdf, DeviceArray< PointType > &triangles_buffer)
Runs marching cubes triangulation.
MarchingCubes()
Default constructor.
shared_ptr< const MarchingCubes > ConstPtr
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates.