marching_cubes_rbf.h

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#ifndef PCL_SURFACE_MARCHING_CUBES_RBF_H_
#define PCL_SURFACE_MARCHING_CUBES_RBF_H_

#include <pcl/surface/marching_cubes.h>
#include <boost/unordered_map.hpp>

namespace pcl
{
  template <typename PointNT>
  class MarchingCubesRBF : public MarchingCubes<PointNT>
  {
    public:
      using SurfaceReconstruction<PointNT>::input_;
      using SurfaceReconstruction<PointNT>::tree_;
      using MarchingCubes<PointNT>::grid_;
      using MarchingCubes<PointNT>::res_x_;
      using MarchingCubes<PointNT>::res_y_;
      using MarchingCubes<PointNT>::res_z_;
      using MarchingCubes<PointNT>::min_p_;
      using MarchingCubes<PointNT>::max_p_;

      typedef typename pcl::PointCloud<PointNT>::Ptr PointCloudPtr;

      typedef typename pcl::KdTree<PointNT> KdTree;
      typedef typename pcl::KdTree<PointNT>::Ptr KdTreePtr;


      MarchingCubesRBF ();

      ~MarchingCubesRBF ();

      void
      voxelizeData ();


      inline void
      setOffSurfaceDisplacement (float epsilon)
      { off_surface_epsilon_ = epsilon; }

      inline float
      getOffSurfaceDisplacement ()
      { return off_surface_epsilon_; }


    protected:
      double
      kernel (Eigen::Vector3d c, Eigen::Vector3d x);

      float off_surface_epsilon_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  // PCL_SURFACE_MARCHING_CUBES_RBF_H_