☆greedy_projection-server

1.#include <pcl/point_types.h>


2.#include <pcl/io/pcd_io.h>


3.#include <pcl/kdtree/kdtree_flann.h>


4.#include <pcl/features/normal_3d.h>


5.#include <pcl/surface/gp3.h>


6.#include <pcl/io/vtk_io.h>


7.


8.int


9.main (int argc, char** argv)


10.{


11.  int search;


12.  float radius;


13.  float mu;


14.  int neighbors;


15.  search=atoi(argv[3]);


16.  radius=atof(argv[4]);


17.  mu=atof(argv[5]);


18.  neighbors=atoi(argv[6]);


19.  // Load input file into a PointCloud<T> with an appropriate type


20.  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);


21.  pcl::PCLPointCloud2 cloud_blob;


22.  pcl::io::loadPCDFile (argv[1], cloud_blob);


23.  pcl::fromPCLPointCloud2 (cloud_blob, *cloud);


24.  //* the data should be available in cloud


25.


26.  // Normal estimation*


27.  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;


28.  pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);


29.  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);


30.  tree->setInputCloud (cloud);


31.  n.setInputCloud (cloud);


32.  n.setSearchMethod (tree);


33.  n.setKSearch (search);


34.  n.compute (*normals);


35.  //* normals should not contain the point normals + surface curvatures


36.


37.  // Concatenate the XYZ and normal fields*


38.  pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);


39.  pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);


40.  //* cloud_with_normals = cloud + normals


41.


42.  // Create search tree*


43.  pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);


44.  tree2->setInputCloud (cloud_with_normals);


45.


46.  // Initialize objects


47.  pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;


48.  pcl::PolygonMesh triangles;


49.


50.  // Set the maximum distance between connected points (maximum edge length)


51.  gp3.setSearchRadius (radius);


52.


53.  // Set typical values for the parameters


54.  gp3.setMu (mu);


55.  gp3.setMaximumNearestNeighbors (neighbors);


56.  gp3.setMaximumSurfaceAngle(M_PI/4); // 45 degrees


57.  gp3.setMinimumAngle(M_PI/18); // 10 degrees


58.  gp3.setMaximumAngle(2*M_PI/3); // 120 degrees


59.  gp3.setNormalConsistency(false);


60.


61.  // Get result


62.  gp3.setInputCloud (cloud_with_normals);


63.  gp3.setSearchMethod (tree2);


64.  gp3.reconstruct (triangles);


65.


66.    pcl::io::saveVTKFile (argv[2], triangles);


67.


68.  // Additional vertex information


69.  std::vector<int> parts = gp3.getPartIDs();


70.  std::vector<int> states = gp3.getPointStates();


71.


72.


73.  // Finish


74.  return (0);


75.}