Point Cloud Library (PCL)  1.8.0
marching_cubes.h
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37 
38 #ifndef PCL_KINFU_TSDF_MARCHING_CUBES_H_
39 #define PCL_KINFU_TSDF_MARCHING_CUBES_H_
40 
41 #include <pcl/pcl_macros.h>
42 #include <pcl/gpu/containers/device_array.h>
43 #include <Eigen/Core>
44 
45 namespace 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  */
54  class PCL_EXPORTS MarchingCubes
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  typedef boost::shared_ptr<MarchingCubes> Ptr;
70 
71  /** \brief Default constructor */
72  MarchingCubes();
73 
74  /** \brief Destructor */
75  ~MarchingCubes();
76 
77  /** \brief Runs marching cubes triangulation.
78  * \param[in] tsdf
79  * \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.
80  * \return Array with triangles. Each 3 consequent poits belond to a single triangle. The returned array points to 'triangles_buffer' data.
81  */
83  run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
84 
85  private:
86  /** \brief Edge table for marching cubes */
87  DeviceArray<int> edgeTable_;
88 
89  /** \brief Number of vertextes table for marching cubes */
90  DeviceArray<int> numVertsTable_;
91 
92  /** \brief Triangles table for marching cubes */
93  DeviceArray<int> triTable_;
94 
95  /** \brief Temporary buffer used by marching cubes (first row stores occuped voxes id, second number of vetexes, third poits offsets */
96  DeviceArray2D<int> occupied_voxels_buffer_;
97  };
98  }
99 }
100 
101 #endif /* PCL_KINFU_MARCHING_CUBES_H_ */
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU.
TsdfVolume class.
Definition: tsdf_volume.h:55
A point structure representing Euclidean xyz coordinates.
boost::shared_ptr< MarchingCubes > Ptr
Smart pointer.
pcl::PointXYZ PointType
Point type.