test_mls.cpp

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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 * $Id: test_mls.cpp 36039 2011-02-17 20:56:28Z marton $
 *
 */

#include <boost/make_shared.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
#include <pcl/surface/gp3.h>
#include <pcl/surface/grid_projection.h>

using namespace pcl;
using namespace pcl::io;
using namespace std;

typedef KdTree<PointXYZ>::Ptr KdTreePtr;

PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ> ());
vector<int> indices;
KdTreePtr tree;

/* ---[ */
int
  main (int argc, char** argv)
{
  //*
  // Input
  sensor_msgs::PointCloud2 cloud_blob;
  loadPCDFile ("./test/bun0.pcd", cloud_blob);
  fromROSMsg (cloud_blob, *cloud);

  // Indices
  indices.resize (cloud->points.size ());
  for (size_t i = 0; i < indices.size (); ++i) { indices[i] = i; }

  // KD-Tree
  tree = boost::make_shared<KdTreeFLANN<PointXYZ> > ();
  tree->setInputCloud (cloud);

  // Init objects
  PointCloud<PointXYZ> mls_points;
  PointCloud<Normal>::Ptr mls_normals (new PointCloud<Normal> ());
  MovingLeastSquares<PointXYZ, Normal> mls;

  // Set parameters
  mls.setInputCloud (cloud);
  mls.setIndices (boost::make_shared <vector<int> > (indices));
  mls.setPolynomialFit (true);
  mls.setSearchMethod (tree);
  mls.setSearchRadius (0.03);

  // Reconstruct
  //ros::Time::init();
  //ros::Time t = ros::Time::now ();
  mls.setOutputNormals (mls_normals);
  mls.reconstruct (mls_points);
  //ROS_INFO ("MLS fit done in %g seconds.", (ros::Time::now () - t).toSec ());
  //ROS_INFO ("MLS fit of %zu points and %zu normals.", mls_points.points.size (), mls_normals->points.size ());
  
  PointCloud<PointNormal> mls_cloud;
  pcl::concatenateFields (mls_points, *mls_normals, mls_cloud);

  // Save output
  savePCDFile ("./test/bun0-mls.pcd", mls_cloud);

//*/
//  sensor_msgs::PointCloud2 cloud_blob;
//  PointCloud<PointNormal> mls_points;
//  loadPCDFile ("./test/bun0-mls.pcd", cloud_blob);
//  fromROSMsg (cloud_blob, mls_points);
//  indices.resize (mls_points.points.size ());
//  for (size_t i = 0; i < indices.size (); ++i) { indices[i] = i; }

  // Test triangulation
  std::cerr << "TESTING TRIANGULATION" << std::endl;
  KdTree<PointNormal>::Ptr tree2 = boost::make_shared<KdTreeFLANN<PointNormal> > ();
  tree2->setInputCloud (mls_cloud.makeShared ());
  PolygonMesh triangles;
  GreedyProjectionTriangulation<PointNormal> gp3;
/*  GridProjection<PointNormal> gp3;
    gp3.setInputCloud (mls_points.makeShared ());
    gp3.setSearchMethod (tree2);
    gp3.setResolution (0.01);
    gp3.setPaddingSize (3);*/
  gp3.setInputCloud (mls_cloud.makeShared ());
  gp3.setSearchMethod (tree2);
  gp3.setIndices (boost::make_shared <vector<int> > (indices));
  gp3.setSearchRadius (0.02);
  gp3.setMu (2.5);
  gp3.setMaximumNearestNeighbors (50);
  gp3.setMaximumSurfaceAgle(M_PI/4); // 45 degrees
  gp3.setMinimumAngle(M_PI/18); // 10 degrees
  gp3.setMaximumAngle(2*M_PI/3); // 120 degrees
  gp3.setNormalConsistency(false);
  gp3.reconstruct (triangles);
  saveVTKFile ("./test/bun0-mls.vtk", triangles);
  //std::cerr << "INPUT: ./test/bun0-mls.pcd" << std::endl;
  std::cerr << "OUTPUT: ./test/bun0-mls.vtk" << std::endl;

  // Finish
  return (0);
}
/* ]--- */

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:24 2013