int
pcl::VTKUtils::convertToVTK (const pcl::PolygonMesh &triangles, vtkSmartPointer<vtkPolyData> &triangles_out_vtk)
{
if (triangles.cloud.data.empty ())
{
PCL_ERROR ("[pcl::surface::convertToVTK] Input point cloud has no data!\n");
return (-1);
}
vtkSmartPointer<vtkPolyData> vtk_polygons;
mesh2vtk (triangles, vtk_polygons);
vtkSmartPointer<vtkTriangleFilter> vtk_triangles = vtkTriangleFilter::New ();
vtk_triangles->SetInput (vtk_polygons);
vtk_triangles->Update();
triangles_out_vtk = vtk_triangles->GetOutput ();
return 1;
}
void RegionGrowingHSV::findPointNeighbours ()
{
// convert point cloud type to vtkPolyData
vtkPolyData* m_polydata = vtkPolyData::New();
int convertnum = mesh2vtk(m_polymesh,m_polydata);
if( num_pts!=convertnum )
return;
pcl::search::Search <pcl::PointXYZRGB>::Ptr tree =
boost::shared_ptr<pcl::search::Search<pcl::PointXYZRGB> > (new pcl::search::KdTree<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::fromROSMsg(m_polymesh.cloud,*cloud);
tree->setInputCloud(cloud);
std::vector<float> nearestDis;
std::vector<int> neighbours;
point_neighbours_.clear();
neighbours_for_possi_.clear();
point_neighbours_.resize (num_pts, neighbours);
neighbours_for_possi_.resize(num_pts,neighbours);
for (int i_point = 0; i_point < num_pts; i_point++)
{
std::vector<bool> is_neighbour(num_pts,false);
std::vector<int> seed_initial;
std::vector<int> seed;
seed_initial.push_back(i_point);
int time = 0;
neighbours.clear ();
while( !seed_initial.empty() && time<searchDis_ )
{
while( !seed_initial.empty() ) // 将seed_initial中的种子点copy到seed中
{
seed.swap(seed_initial);
seed_initial.clear();
}
while(!seed.empty())
{
int current_seed = seed[0];
seed.erase(seed.begin());
is_neighbour[current_seed] = true;
findNeighbours(current_seed,seed_initial,neighbours,is_neighbour,m_polydata);
}
time++;
if(time==1)
{
if(neighbours.size()<3)
{
neighbours.clear();
nearestDis.clear();
tree->nearestKSearch(cloud->points[i_point],10,neighbours,nearestDis);
}
point_neighbours_[i_point] = neighbours;
}
}
//std::cout<<"size neighbours of the "<<i_point<<"'s point is "<<neighbours.size()<<std::endl;
if(neighbours.size()<3)
{
neighbours.clear();
nearestDis.clear();
tree->nearestKSearch(cloud->points[i_point],10,neighbours,nearestDis);
}
neighbours_for_possi_[i_point].swap (neighbours);
}
std::cout<<"find point neighbours end..."<<std::endl;
}
