Avoid phantom surfces in marching cubes hoppe #1874
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@@ -42,13 +42,6 @@ | |
| #include <pcl/Vertices.h> | ||
| #include <pcl/kdtree/kdtree_flann.h> | ||
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| ////////////////////////////////////////////////////////////////////////////////////////////// | ||
| template <typename PointNT> | ||
| pcl::MarchingCubes<PointNT>::~MarchingCubes () | ||
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@@ -59,26 +52,17 @@ pcl::MarchingCubes<PointNT>::~MarchingCubes () | |
| template <typename PointNT> void | ||
| pcl::MarchingCubes<PointNT>::getBoundingBox () | ||
| { | ||
| PointNT max_pt, min_pt; | ||
| pcl::getMinMax3D (*input_, min_pt, max_pt); | ||
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There was a problem hiding this comment. It doesn't make much difference in this case but this looks like the overload you were actually looking for |
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| lower_boundary_ = min_pt.getArray3fMap (); | ||
| upper_boundary_ = max_pt.getArray3fMap (); | ||
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| const Eigen::Array3f size3_extend = 0.5f * percentage_extend_grid_ | ||
| * (upper_boundary_ - lower_boundary_); | ||
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| lower_boundary_ -= size3_extend; | ||
| upper_boundary_ += size3_extend; | ||
| } | ||
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@@ -90,19 +74,18 @@ pcl::MarchingCubes<PointNT>::interpolateEdge (Eigen::Vector3f &p1, | |
| float val_p2, | ||
| Eigen::Vector3f &output) | ||
| { | ||
| const float mu = (iso_level_ - val_p1) / (val_p2 - val_p1); | ||
| output = p1 + mu * (p2 - p1); | ||
| } | ||
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| ////////////////////////////////////////////////////////////////////////////////////////////// | ||
| template <typename PointNT> void | ||
| pcl::MarchingCubes<PointNT>::createSurface (const std::vector<float> &leaf_node, | ||
| const Eigen::Vector3i &index_3d, | ||
| pcl::PointCloud<PointNT> &cloud) | ||
| { | ||
| int cubeindex = 0; | ||
| if (leaf_node[0] < iso_level_) cubeindex |= 1; | ||
| if (leaf_node[1] < iso_level_) cubeindex |= 2; | ||
| if (leaf_node[2] < iso_level_) cubeindex |= 4; | ||
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@@ -116,31 +99,29 @@ pcl::MarchingCubes<PointNT>::createSurface (std::vector<float> &leaf_node, | |
| if (edgeTable[cubeindex] == 0) | ||
| return; | ||
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| const Eigen::Vector3f center = lower_boundary_ | ||
| + size_voxel_ * index_3d.cast<float> ().array (); | ||
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| std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > p; | ||
| p.resize (8); | ||
| for (int i = 0; i < 8; ++i) | ||
| { | ||
| Eigen::Vector3f point = center; | ||
| if (i & 0x4) | ||
| point[1] = static_cast<float> (center[1] + size_voxel_[1]); | ||
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| if (i & 0x2) | ||
| point[2] = static_cast<float> (center[2] + size_voxel_[2]); | ||
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| if ((i & 0x1) ^ ((i >> 1) & 0x1)) | ||
| point[0] = static_cast<float> (center[0] + size_voxel_[0]); | ||
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| p[i] = point; | ||
| } | ||
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| // Find the vertices where the surface intersects the cube | ||
| std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > vertex_list; | ||
| vertex_list.resize (12); | ||
| if (edgeTable[cubeindex] & 1) | ||
| interpolateEdge (p[0], p[1], leaf_node[0], leaf_node[1], vertex_list[0]); | ||
| if (edgeTable[cubeindex] & 2) | ||
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@@ -167,20 +148,14 @@ pcl::MarchingCubes<PointNT>::createSurface (std::vector<float> &leaf_node, | |
| interpolateEdge (p[3], p[7], leaf_node[3], leaf_node[7], vertex_list[11]); | ||
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| // Create the triangle | ||
| for (int i = 0; triTable[cubeindex][i] != -1; i += 3) | ||
| { | ||
| PointNT p1, p2, p3; | ||
| p1.getVector3fMap () = vertex_list[triTable[cubeindex][i]]; | ||
| cloud.push_back (p1); | ||
| p2.getVector3fMap () = vertex_list[triTable[cubeindex][i+1]]; | ||
| cloud.push_back (p2); | ||
| p3.getVector3fMap () = vertex_list[triTable[cubeindex][i+2]]; | ||
| cloud.push_back (p3); | ||
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There was a problem hiding this comment. I just noticed that this cloud is only being populated with XYZ info. Why exactly are we using PointNT? |
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| } | ||
| } | ||
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@@ -191,7 +166,7 @@ template <typename PointNT> void | |
| pcl::MarchingCubes<PointNT>::getNeighborList1D (std::vector<float> &leaf, | ||
| Eigen::Vector3i &index3d) | ||
| { | ||
| leaf.resize (8); | ||
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| leaf[0] = getGridValue (index3d); | ||
| leaf[1] = getGridValue (index3d + Eigen::Vector3i (1, 0, 0)); | ||
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@@ -201,6 +176,15 @@ pcl::MarchingCubes<PointNT>::getNeighborList1D (std::vector<float> &leaf, | |
| leaf[5] = getGridValue (index3d + Eigen::Vector3i (1, 1, 0)); | ||
| leaf[6] = getGridValue (index3d + Eigen::Vector3i (1, 1, 1)); | ||
| leaf[7] = getGridValue (index3d + Eigen::Vector3i (0, 1, 1)); | ||
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| for (int i = 0; i < 8; ++i) | ||
| { | ||
| if (std::isnan (leaf[i])) | ||
| { | ||
| leaf.clear (); | ||
| break; | ||
| } | ||
| } | ||
| } | ||
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@@ -224,53 +208,11 @@ pcl::MarchingCubes<PointNT>::getGridValue (Eigen::Vector3i pos) | |
| template <typename PointNT> void | ||
| pcl::MarchingCubes<PointNT>::performReconstruction (pcl::PolygonMesh &output) | ||
| { | ||
| pcl::PointCloud<PointNT> points; | ||
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| performReconstruction (points, output.polygons); | ||
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| pcl::toPCLPointCloud2 (points, output.cloud); | ||
| } | ||
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@@ -281,38 +223,50 @@ pcl::MarchingCubes<PointNT>::performReconstruction (pcl::PointCloud<PointNT> &po | |
| { | ||
| if (!(iso_level_ >= 0 && iso_level_ < 1)) | ||
| { | ||
| PCL_ERROR ("[pcl::%s::performReconstruction] Invalid iso level %f! Please use a number between 0 and 1.\n", | ||
| getClassName ().c_str (), iso_level_); | ||
| points.width = points.height = 0; | ||
| points.points.clear (); | ||
| polygons.clear (); | ||
| return; | ||
| } | ||
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| // the point cloud really generated from Marching Cubes, prev intermediate_cloud_ | ||
| pcl::PointCloud<PointNT> intermediate_cloud; | ||
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| // Create grid | ||
| grid_ = std::vector<float> (res_x_*res_y_*res_z_, NAN); | ||
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| // Populate tree | ||
| tree_->setInputCloud (input_); | ||
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| // Compute bounding box and voxel size | ||
| getBoundingBox (); | ||
| size_voxel_ = (upper_boundary_ - lower_boundary_) | ||
| * Eigen::Array3f (res_x_, res_y_, res_z_).inverse (); | ||
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| // Transform the point cloud into a voxel grid | ||
| // This needs to be implemented in a child class | ||
| voxelizeData (); | ||
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| // preallocate memory assuming a hull. suppose 6 point per voxel | ||
| double size_reserve = std::min((double) intermediate_cloud.points.max_size (), | ||
| 2.0 * 6.0 * (double) (res_y_*res_z_ + res_x_*res_z_ + res_x_*res_y_)); | ||
| intermediate_cloud.reserve ((size_t) size_reserve); | ||
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| for (int x = 1; x < res_x_-1; ++x) | ||
| for (int y = 1; y < res_y_-1; ++y) | ||
| for (int z = 1; z < res_z_-1; ++z) | ||
| { | ||
| Eigen::Vector3i index_3d (x, y, z); | ||
| std::vector<float> leaf_node; | ||
| getNeighborList1D (leaf_node, index_3d); | ||
| if (!leaf_node.empty ()) | ||
| createSurface (leaf_node, index_3d, intermediate_cloud); | ||
| } | ||
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| points.swap (intermediate_cloud); | ||
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| polygons.resize (points.size () / 3); | ||
| for (size_t i = 0; i < polygons.size (); ++i) | ||
| { | ||
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@@ -324,8 +278,6 @@ pcl::MarchingCubes<PointNT>::performReconstruction (pcl::PointCloud<PointNT> &po | |
| } | ||
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There was a problem hiding this comment. In conjunction with my other comments, leave this here. |
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| } | ||
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| #define PCL_INSTANTIATE_MarchingCubes(T) template class PCL_EXPORTS pcl::MarchingCubes<T>; | ||
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| #endif // PCL_SURFACE_IMPL_MARCHING_CUBES_H_ | ||
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You're just interested in the coordinates so this should be PointXYZ.