bool WorldDownloadManager::marchingCubes(TsdfCloud::Ptr cloud, std::vector<Mesh::Ptr> &output_meshes) const
{
try
{
// Creating world model object
pcl::kinfuLS::WorldModel<pcl::PointXYZI> wm;
//Adding current cloud to the world model
wm.addSlice (cloud);
std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> clouds;
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > transforms;
//Get world as a vector of cubes
wm.getWorldAsCubes (pcl::device::kinfuLS::VOLUME_X, clouds, transforms, 0.025); // 2.5% overlapp (12 cells with a 512-wide cube)
//Creating the standalone marching cubes instance
float volume_size = pcl::device::kinfuLS::VOLUME_SIZE;
std::cout << "Processing world with volume size set to " << volume_size << "meters\n";
pcl::gpu::kinfuLS::StandaloneMarchingCubes<pcl::PointXYZI> marching_cubes (pcl::device::kinfuLS::VOLUME_X,
pcl::device::kinfuLS::VOLUME_Y, pcl::device::kinfuLS::VOLUME_Z, volume_size);
marching_cubes.getMeshesFromTSDFVectorMemory(clouds,transforms,output_meshes);
std::cout << "Done!\n";
return true;
}
catch (const pcl::PCLException& /*e*/) { PCL_ERROR ("PCLException... Exiting...\n"); return false; }
catch (const std::bad_alloc& /*e*/) { PCL_ERROR ("Bad alloc... Exiting...\n"); return false; }
catch (const std::exception& /*e*/) { PCL_ERROR ("Exception... Exiting...\n"); return false; }
}
void InitGL()
{
glEnable(GL_DEPTH_TEST);
glClearColor(0.2, 0.2 , 0.6, 0.0);
projection = mat4_create(projection);
view = mat4_create(view);
model = mat4_create(model);
model = mat4_identity(model);
scan_data data = load_scan_data(filename, data_width, data_height, data_length, bit_rate);
marching_cubes(threshold, &data, debug, &g);
model = mat4_translate(model, g.center, model);
free(data.data);
}
static void
animate_lava (ModeInfo *mi)
{
lavalite_configuration *bp = &bps[MI_SCREEN(mi)];
int wire = MI_IS_WIREFRAME(mi);
Bool just_started_p = bp->just_started_p;
double isolevel = 0.3;
/* Maybe bubble a new blobby to the surface.
*/
if (just_started_p ||
frand(1.0) < bp->launch_chance)
{
bp->just_started_p = False;
launch_balls (mi);
if (do_impatient && just_started_p)
while (1)
{
int i;
move_balls (mi);
for (i = 0; i < bp->nballs; i++)
{
metaball *b = &bp->balls[i];
if (b->alive_p && !b->static_p && !b->leader &&
b->z > 0.5)
goto DONE;
}
}
DONE: ;
}
move_balls (mi);
glNewList (bp->ball_list, GL_COMPILE);
glPushMatrix();
glMaterialfv (GL_FRONT, GL_SPECULAR, lava_spec);
glMateriali (GL_FRONT, GL_SHININESS, lava_shininess);
glMaterialfv (GL_FRONT, GL_AMBIENT_AND_DIFFUSE, lava_color);
/* For the blobbies, the origin is on the axis at the bottom of the
glass bottle; and the top of the bottle is +1 on Z.
*/
glTranslatef (0, 0, -0.5);
mi->polygon_count = 0;
{
double s;
if (bp->grid_size == 0) bp->grid_size = 1; /* first time through */
s = 1.0/bp->grid_size;
glPushMatrix();
glTranslatef (-0.5, -0.5, 0);
glScalef (s, s, s);
marching_cubes (resolution, isolevel, wire, do_smooth,
obj_init, obj_compute, obj_free, bp,
&mi->polygon_count);
glPopMatrix();
}
mi->polygon_count += bp->bottle_poly_count;
glPopMatrix();
glEndList ();
}
