cloud_mesh.cpp

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#include <pcl/apps/modeler/cloud_mesh.h>

#include <pcl/visualization/point_cloud_handlers.h>
#include <pcl/filters/filter_indices.h>
#include <pcl/common/transforms.h>
#include <pcl/PolygonMesh.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/obj_io.h>
#include <vtkDataArray.h>
#include <vtkCellArray.h>

pcl::modeler::CloudMesh::CloudMesh()
  :vtk_points_(vtkSmartPointer<vtkPoints>::New()),
  vtk_polygons_(vtkSmartPointer<vtkCellArray>::New())
{
  cloud_.reset(new pcl::PointCloud<pcl::PointSurfel>());
  vtk_points_->SetDataTypeToFloat ();
}

pcl::modeler::CloudMesh::CloudMesh(PointCloudPtr cloud)
  :cloud_(cloud),
  vtk_points_(vtkSmartPointer<vtkPoints>::New()),
  vtk_polygons_(vtkSmartPointer<vtkCellArray>::New())
{
  vtk_points_->SetDataTypeToFloat ();
  updateVtkPoints();
}

pcl::modeler::CloudMesh::~CloudMesh ()
{
}

std::vector<std::string>
pcl::modeler::CloudMesh::getAvaiableFieldNames() const
{
  // TODO:
  return (std::vector<std::string>());
}

bool
pcl::modeler::CloudMesh::open(const std::string& filename)
{
  if (pcl::io::loadPCDFile(filename, *cloud_) != 0)
    return (false);

  updateVtkPoints();

  return (true);
}

bool
pcl::modeler::CloudMesh::save(const std::string& filename) const
{
  if (filename.rfind(".obj") == (filename.length()-4))
  {
    pcl::PolygonMesh polygon_mesh;
    pcl::toPCLPointCloud2(*cloud_, polygon_mesh.cloud);
    polygon_mesh.polygons = polygons_;
    return (pcl::io::saveOBJFile(filename, polygon_mesh, true) == 0);
  }

  return (pcl::io::savePCDFile(filename, *cloud_, true) == 0);
}

bool
pcl::modeler::CloudMesh::save(const std::vector<const CloudMesh*>& cloud_meshes, const std::string& filename)
{
  if (cloud_meshes.empty())
    return false;

  if (cloud_meshes.size() == 1)
    return (cloud_meshes[0]->save(filename));

  CloudMesh cloud_mesh;
  for (size_t i = 0, i_end = cloud_meshes.size(); i < i_end; ++ i)
  {
    if (filename.rfind(".obj") == (filename.length()-4))
    {
      size_t delta = cloud_mesh.cloud_->size();
      const std::vector<pcl::Vertices>& polygons = cloud_meshes[i]->polygons_;
      for (size_t j = 0, j_end = polygons.size(); j < j_end; ++ j)
      {
        pcl::Vertices polygon = polygons[j];
        for (size_t k = 0, k_end = polygon.vertices.size(); k < k_end; ++ k)
          polygon.vertices[k] += static_cast<unsigned int> (delta);
        cloud_mesh.polygons_.push_back(polygon);
      }
    }

    *cloud_mesh.cloud_ += *(cloud_meshes[i]->cloud_);
  }

  return (cloud_mesh.save(filename));
}

void
pcl::modeler::CloudMesh::getColorScalarsFromField(vtkSmartPointer<vtkDataArray> &scalars, const std::string& field) const
{
  if (field == "rgb" || field == "rgba")
  {
    pcl::visualization::PointCloudColorHandlerRGBField<PointT> color_handler(cloud_);
    color_handler.getColor(scalars);
    return;
  }

  if (field == "random")
  {
    pcl::visualization::PointCloudColorHandlerRandom<PointT> color_handler(cloud_);
    color_handler.getColor(scalars);
    return;
  }

  pcl::visualization::PointCloudColorHandlerGenericField<PointT> color_handler(cloud_, field);
  color_handler.getColor(scalars);

  return;
}

void
pcl::modeler::CloudMesh::updateVtkPoints()
{
  if (vtk_points_->GetData() == NULL)
    vtk_points_->SetData(vtkSmartPointer<vtkFloatArray>::New ());

  vtkFloatArray* data = dynamic_cast<vtkFloatArray*>(vtk_points_->GetData());
  data->SetNumberOfComponents (3);

  // If the dataset has no invalid values, just copy all of them
  if (cloud_->is_dense)
  {
    vtkIdType nr_points = cloud_->points.size ();
    data->SetNumberOfValues(3*nr_points);

    for (vtkIdType i = 0; i < nr_points; ++i)
    {
      data->SetValue(i*3+0, cloud_->points[i].x);
      data->SetValue(i*3+1, cloud_->points[i].y);
      data->SetValue(i*3+2, cloud_->points[i].z);
    }
  }
  // Need to check for NaNs, Infs, ec
  else
  {
    pcl::IndicesPtr indices(new std::vector<int>());
    pcl::removeNaNFromPointCloud(*cloud_, *indices);

    data->SetNumberOfValues(3*indices->size());

    for (vtkIdType i = 0, i_end = indices->size(); i < i_end; ++i)
    {
      vtkIdType idx = (*indices)[i];
      data->SetValue(i*3+0, cloud_->points[idx].x);
      data->SetValue(i*3+1, cloud_->points[idx].y);
      data->SetValue(i*3+2, cloud_->points[idx].z);
    }
  }
  data->Squeeze();

  return;
}

void
pcl::modeler::CloudMesh::updateVtkPolygons()
{
  vtk_polygons_->Reset();

  if (cloud_->is_dense)
  {
    for (size_t i = 0, i_end = polygons_.size (); i < i_end; ++i)
    {
      size_t n_points = polygons_[i].vertices.size ();
      vtk_polygons_->InsertNextCell (static_cast<unsigned int> (n_points));
      for (size_t j = 0; j < n_points; j++)
        vtk_polygons_->InsertCellPoint (polygons_[i].vertices[j]);
    }
  }
  else
  {
    pcl::IndicesPtr indices(new std::vector<int>());
    pcl::removeNaNFromPointCloud(*cloud_, *indices);

    for (size_t i = 0, i_end = polygons_.size(); i < i_end; ++i)
    {
      size_t n_points = polygons_[i].vertices.size ();
      vtk_polygons_->InsertNextCell (static_cast<unsigned int> (n_points));
      for (size_t j = 0; j < n_points; j++)
        vtk_polygons_->InsertCellPoint ((*indices)[polygons_[i].vertices[j]]);
    }
  }

  return;
}

void
pcl::modeler::CloudMesh::transform(double tx, double ty, double tz, double rx, double ry, double rz)
{
  Eigen::Vector4f centroid;
  pcl::compute3DCentroid(*cloud_, centroid);

  CloudMesh::PointCloud mean_cloud = *cloud_;
  pcl::demeanPointCloud(*cloud_, centroid, mean_cloud);

  rx *= M_PI/180;
  ry *= M_PI/180;
  rz *= M_PI/180;
  Eigen::Affine3f affine_transform = pcl::getTransformation (float (tx), float (ty), float (tz), float (rx), float (ry), float (rz));
  CloudMesh::PointCloud transform_cloud = mean_cloud;
  pcl::transformPointCloudWithNormals(mean_cloud, transform_cloud, affine_transform.matrix());

  centroid = -centroid;
  pcl::demeanPointCloud(transform_cloud, centroid, *cloud_);

  return;
}