82 const Eigen::Vector3i &index_3d,
86 if (leaf_node[0] < iso_level_) cubeindex |= 1;
87 if (leaf_node[1] < iso_level_) cubeindex |= 2;
88 if (leaf_node[2] < iso_level_) cubeindex |= 4;
89 if (leaf_node[3] < iso_level_) cubeindex |= 8;
90 if (leaf_node[4] < iso_level_) cubeindex |= 16;
91 if (leaf_node[5] < iso_level_) cubeindex |= 32;
92 if (leaf_node[6] < iso_level_) cubeindex |= 64;
93 if (leaf_node[7] < iso_level_) cubeindex |= 128;
99 const Eigen::Vector3f center = lower_boundary_
100 + size_voxel_ * index_3d.cast<
float> ().array ();
102 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > p;
104 for (
int i = 0; i < 8; ++i)
106 Eigen::Vector3f point = center;
108 point[1] =
static_cast<float> (center[1] + size_voxel_[1]);
111 point[2] =
static_cast<float> (center[2] + size_voxel_[2]);
113 if ((i & 0x1) ^ ((i >> 1) & 0x1))
114 point[0] =
static_cast<float> (center[0] + size_voxel_[0]);
120 std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > vertex_list;
121 vertex_list.resize (12);
123 interpolateEdge (p[0], p[1], leaf_node[0], leaf_node[1], vertex_list[0]);
125 interpolateEdge (p[1], p[2], leaf_node[1], leaf_node[2], vertex_list[1]);
127 interpolateEdge (p[2], p[3], leaf_node[2], leaf_node[3], vertex_list[2]);
129 interpolateEdge (p[3], p[0], leaf_node[3], leaf_node[0], vertex_list[3]);
131 interpolateEdge (p[4], p[5], leaf_node[4], leaf_node[5], vertex_list[4]);
133 interpolateEdge (p[5], p[6], leaf_node[5], leaf_node[6], vertex_list[5]);
135 interpolateEdge (p[6], p[7], leaf_node[6], leaf_node[7], vertex_list[6]);
137 interpolateEdge (p[7], p[4], leaf_node[7], leaf_node[4], vertex_list[7]);
139 interpolateEdge (p[0], p[4], leaf_node[0], leaf_node[4], vertex_list[8]);
141 interpolateEdge (p[1], p[5], leaf_node[1], leaf_node[5], vertex_list[9]);
143 interpolateEdge (p[2], p[6], leaf_node[2], leaf_node[6], vertex_list[10]);
145 interpolateEdge (p[3], p[7], leaf_node[3], leaf_node[7], vertex_list[11]);
148 for (
int i = 0;
triTable[cubeindex][i] != -1; i += 3)
151 p1.getVector3fMap () = vertex_list[
triTable[cubeindex][i]];
153 p2.getVector3fMap () = vertex_list[
triTable[cubeindex][i+1]];
155 p3.getVector3fMap () = vertex_list[
triTable[cubeindex][i+2]];
164 Eigen::Vector3i &index3d)
168 leaf[0] = getGridValue (index3d);
169 leaf[1] = getGridValue (index3d + Eigen::Vector3i (1, 0, 0));
170 leaf[2] = getGridValue (index3d + Eigen::Vector3i (1, 0, 1));
171 leaf[3] = getGridValue (index3d + Eigen::Vector3i (0, 0, 1));
172 leaf[4] = getGridValue (index3d + Eigen::Vector3i (0, 1, 0));
173 leaf[5] = getGridValue (index3d + Eigen::Vector3i (1, 1, 0));
174 leaf[6] = getGridValue (index3d + Eigen::Vector3i (1, 1, 1));
175 leaf[7] = getGridValue (index3d + Eigen::Vector3i (0, 1, 1));
177 for (
int i = 0; i < 8; ++i)
179 if (std::isnan (leaf[i]))
219 std::vector<pcl::Vertices> &polygons)
221 if (!(iso_level_ >= 0 && iso_level_ < 1))
223 PCL_ERROR (
"[pcl::%s::performReconstruction] Invalid iso level %f! Please use a number between 0 and 1.\n",
224 getClassName ().c_str (), iso_level_);
234 grid_ = std::vector<float> (res_x_*res_y_*res_z_, NAN);
238 size_voxel_ = (upper_boundary_ - lower_boundary_)
239 * Eigen::Array3f (res_x_, res_y_, res_z_).inverse ();
246 double size_reserve = std::min(
static_cast<double>(intermediate_cloud.
points.max_size ()),
247 2.0 * 6.0 *
static_cast<double>(res_y_*res_z_ + res_x_*res_z_ + res_x_*res_y_));
248 intermediate_cloud.
reserve (
static_cast<std::size_t
>(size_reserve));
250 for (
int x = 1; x < res_x_-1; ++x)
251 for (
int y = 1; y < res_y_-1; ++y)
252 for (
int z = 1; z < res_z_-1; ++z)
254 Eigen::Vector3i index_3d (x, y, z);
255 std::vector<float> leaf_node;
256 getNeighborList1D (leaf_node, index_3d);
257 if (!leaf_node.empty ())
258 createSurface (leaf_node, index_3d, intermediate_cloud);
261 points.
swap (intermediate_cloud);
263 polygons.resize (points.
size () / 3);
264 for (std::size_t i = 0; i < polygons.size (); ++i)
268 for (
int j = 0; j < 3; ++j)
269 v.
vertices[j] =
static_cast<int> (i) * 3 + j;