standalone_marching_cubes.h

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#pragma once
 
//General includes and I/O
 
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/vtk_io.h>
#include <pcl/point_types.h>
#include <cstdio>
#include <cstdarg>
#include <pcl/pcl_macros.h>
 
//Marching cubes includes
#include <pcl/gpu/kinfu_large_scale/marching_cubes.h>
#include <pcl/PolygonMesh.h>
 
#include <pcl/gpu/containers/device_array.h>
 
//TSDF volume includes
#include <pcl/gpu/kinfu_large_scale/tsdf_volume.h>
 
//Eigen Geometry and Transforms
#include <pcl/common/transforms.h>
#include <Eigen/Geometry>
//#include <boost/graph/buffer_concepts.hpp>
 
namespace pcl
{
  namespace gpu
  {
    namespace kinfuLS
    {
      /** \brief The Standalone Marching Cubes Class provides encapsulated functionality for the Marching Cubes implementation originally by Anatoly Baksheev.
        * \author Raphael Favier
        * \author Francisco Heredia
        */
        
      template <typename PointT>
      class StandaloneMarchingCubes
      {
      public:
          using PointCloud = pcl::PointCloud<PointT>;
          using PointCloudPtr = typename PointCloud::Ptr;
          using MeshPtr = pcl::PolygonMesh::Ptr;
 
      /** \brief Constructor        
        */
      StandaloneMarchingCubes (int voxels_x = 512, int voxels_y = 512, int voxels_z = 512, float volume_size = 3.0f);
 
 
      /** \brief Run marching cubes in a TSDF cloud and returns a PolygonMesh. Input X,Y,Z coordinates must be in indices of the TSDF volume grid, output is in meters. 
        * \param[in] cloud TSDF cloud with indices between [0 ... VOXELS_X][0 ... VOXELS_Y][0 ... VOXELS_Z]. Intensity value corresponds to the TSDF value in that coordinate.
        * \return pointer to a PolygonMesh in meters generated by marching cubes.          
        */
      MeshPtr
      getMeshFromTSDFCloud (const PointCloud &cloud);
 
      /** \brief Runs marching cubes on every pointcloud in the vector. Returns a vector containing the PolygonMeshes. 
        * \param[in] tsdf_clouds Vector of TSDF Clouds
        * \param[in] tsdf_offsets Vector of the offsets for every pointcloud in TsdfClouds. This offset (in indices) indicates the position of the cloud with respect to the absolute origin of the world model
        */
      void
      getMeshesFromTSDFVector (const std::vector<PointCloudPtr> &tsdf_clouds, const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > &tsdf_offsets);
      
      /** \brief Returns the associated Tsdf Volume buffer in GPU 
        * \return pointer to the Tsdf Volume buffer in GPU
        */  
      TsdfVolume::Ptr
      tsdfVolumeGPU ();
        
      /** \brief Returns the associated Tsdf Volume buffer in CPU
        * \return the Tsdf Volume buffer in CPU returned returned by reference
        */  
      std::vector<int>&
      tsdfVolumeCPU ();
 
      protected:
 
      /** \brief Loads a TSDF Cloud to the TSDF Volume in GPU
        * \param[in] cloud TSDF cloud that will be loaded. X,Y,Z of the cloud will only be loaded if their range is between [0 ... VOXELS_X][0 ... VOXELS_Y][0 ... VOXELS_Z]
        */       
      void
      loadTsdfCloudToGPU (const PointCloud &cloud);
 
      /** \brief Read the data in the point cloud. Performs a conversion to a suitable format for the TSDF Volume. Loads the converted data to the output vector.
        * \param[in] cloud point cloud to be converted
        * \param[out] output the vector of converted values, ready to be loaded to the GPU.
        */  
      void 
      convertTsdfVectors (const PointCloud &cloud, std::vector<int> &output);
 
      /** \brief Converts the triangles buffer device to a PolygonMesh.
        * \param[in] triangles the triangles buffer containing the points of the mesh
        * \return pointer to the PolygonMesh egnerated by marchign cubes          
        */  
      MeshPtr
      convertTrianglesToMesh (const pcl::gpu::DeviceArray<pcl::PointXYZ>& triangles);
 
      /** \brief Runs marching cubes on the data that is contained in the TSDF Volume in GPU.
        * \return param[return] pointer to a PolygonMesh in meters generated by marching cubes.
        */  
      MeshPtr
      runMarchingCubes ();
 
      private:
 
      /** The TSDF volume in GPU*/
      TsdfVolume::Ptr tsdf_volume_gpu_;
 
      /** The TSDF volume in CPU */
      std::vector<int> tsdf_volume_cpu_;
      
      /** Number of voxels in the grid for each axis */
      int voxels_x_;
      int voxels_y_;
      int voxels_z_;
 
      /** Tsdf volume size in meters. Should match the ones in internal.h */
      float volume_size_;
      
      /** Mesh counter used to name the output meshes */
      int mesh_counter_;
      
      };
    }
  }
}
 
#define PCL_INSTANTIATE_StandaloneMarchingCubes(PointT) template class PCL_EXPORTS pcl::gpu::kinfuLS::StandaloneMarchingCubes<PointT>;