Point Cloud Library (PCL)  1.8.1
marching_cubes.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2011, Willow Garage, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of Willow Garage, Inc. nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  */
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 //#include <boost/graph/buffer_concepts.hpp>
45 
46 
47 namespace 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  typedef boost::shared_ptr<MarchingCubes> Ptr;
74 
75  /** \brief Default constructor */
76  MarchingCubes();
77 
78  /** \brief Destructor */
79  ~MarchingCubes();
80 
81  /** \brief Runs marching cubes triangulation.
82  * \param[in] tsdf
83  * \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.
84  * \return Array with triangles. Each 3 consequent poits belond to a single triangle. The returned array points to 'triangles_buffer' data.
85  */
87  run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer);
88 
89  private:
90  /** \brief Edge table for marching cubes */
91  DeviceArray<int> edgeTable_;
92 
93  /** \brief Number of vertextes table for marching cubes */
94  DeviceArray<int> numVertsTable_;
95 
96  /** \brief Triangles table for marching cubes */
97  DeviceArray<int> triTable_;
98 
99  /** \brief Temporary buffer used by marching cubes (first row stores occuped voxes id, second number of vetexes, third poits offsets */
100  DeviceArray2D<int> occupied_voxels_buffer_;
101  };
102  }
103  }
104 }
105 
106 #endif /* PCL_KINFU_MARCHING_CUBES_H_ */
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU.
A point structure representing Euclidean xyz coordinates.
boost::shared_ptr< MarchingCubes > Ptr
Smart pointer.
pcl::PointXYZ PointType
Point type.