mesh_from_pointcloud_alg.cpp

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#include "mesh_from_pointcloud_alg.h"

MeshFromPointcloudAlgorithm::MeshFromPointcloudAlgorithm(void)
{
}

MeshFromPointcloudAlgorithm::~MeshFromPointcloudAlgorithm(void)
{
}

void MeshFromPointcloudAlgorithm::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();

  // save the current configuration
  this->config_=new_cfg;
  
  this->unlock();
}

// MeshFromPointcloudAlgorithm Public API
bool MeshFromPointcloudAlgorithm::compute_mesh(const sensor_msgs::PointCloud2::ConstPtr& msg)
{
        pcl::PointCloud<pcl::PointXYZ>::Ptr input_pcl (new pcl::PointCloud<pcl::PointXYZ>); 
        pcl::fromROSMsg(*msg, *input_pcl);
        std::vector<int> index;
        pcl::removeNaNFromPointCloud (*input_pcl, *input_pcl, index);
        return compute_mesh(input_pcl);
}

bool MeshFromPointcloudAlgorithm::compute_mesh(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud){

    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
    pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
    tree->setInputCloud (cloud);
    n.setInputCloud (cloud);
    n.setSearchMethod (tree);
    n.setKSearch (20);
    n.compute (*normals);
    //* normals should not contain the point normals + surface curvatures

    // Concatenate the XYZ and normal fields*
    pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);
    pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
    //* cloud_with_normals = cloud + normals

    // Create search tree*
    pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);
    tree2->setInputCloud (cloud_with_normals);

    // Initialize objects
    pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
    pcl::PolygonMesh triangles;

    // Set the maximum distance between connected points (maximum edge length)
    gp3.setSearchRadius (0.025);

    // Set typical values for the parameters
    gp3.setMu (2.5);
    gp3.setMaximumNearestNeighbors (100);
    gp3.setMaximumSurfaceAngle(M_PI/4); // 45 degrees
    gp3.setMinimumAngle(M_PI/18); // 10 degrees
    gp3.setMaximumAngle(2*M_PI/3); // 120 degrees
    gp3.setNormalConsistency(false);

    // Get result
    gp3.setInputCloud (cloud_with_normals);
    gp3.setSearchMethod (tree2);
    gp3.reconstruct (triangles);

    // Additional vertex information
    std::vector<int> parts = gp3.getPartIDs();
    std::vector<int> states = gp3.getPointStates();

    pcl::io::saveVTKFile ("mesh.vtk", triangles);
    return true;
}