void MeshConversion::convert(const pcl::PolygonMesh& pclMesh, Mesh::MeshObject& meshObject)
{
// number of points
size_t nr_points = pclMesh.cloud.width * pclMesh.cloud.height;
size_t point_size = pclMesh.cloud.data.size () / nr_points;
// number of faces for header
size_t nr_faces = pclMesh.polygons.size ();
MeshCore::MeshPointArray points;
points.reserve(nr_points);
MeshCore::MeshFacetArray facets;
facets.reserve(nr_faces);
// get vertices
MeshCore::MeshPoint vertex;
for (size_t i = 0; i < nr_points; ++i) {
int xyz = 0;
for (size_t d = 0; d < pclMesh.cloud.fields.size(); ++d) {
int c = 0;
// adding vertex
if ((pclMesh.cloud.fields[d].datatype ==
#if PCL_VERSION_COMPARE(>,1,6,0)
pcl::PCLPointField::FLOAT32) &&
#else
sensor_msgs::PointField::FLOAT32) &&
#endif
(pclMesh.cloud.fields[d].name == "x" ||
pclMesh.cloud.fields[d].name == "y" ||
pclMesh.cloud.fields[d].name == "z"))
{
float value;
memcpy (&value, &pclMesh.cloud.data[i * point_size + pclMesh.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
vertex[xyz] = value;
if (++xyz == 3) {
points.push_back(vertex);
break;
}
}
}
}
// get faces
MeshCore::MeshFacet face;
for (size_t i = 0; i < nr_faces; i++) {
face._aulPoints[0] = pclMesh.polygons[i].vertices[0];
face._aulPoints[1] = pclMesh.polygons[i].vertices[1];
face._aulPoints[2] = pclMesh.polygons[i].vertices[2];
facets.push_back(face);
}
MeshCore::MeshKernel kernel;
kernel.Adopt(points, facets, true);
meshObject.swap(kernel);
meshObject.harmonizeNormals();
}
PyObject* MeshFeaturePy::harmonizeNormals(PyObject *args)
{
if (!PyArg_ParseTuple(args, ""))
return NULL;
PY_TRY {
Mesh::MeshObject *mesh = getFeaturePtr()->Mesh.startEditing();
mesh->harmonizeNormals();
getFeaturePtr()->Mesh.finishEditing();
} PY_CATCH;
Py_Return;
}
