int
main (int argc, char** argv)
{
if (pcl::console::find_switch (argc, argv, "--help") || pcl::console::find_switch (argc, argv, "-h"))
return print_help ();
//Reading input cloud
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZI>);
if (argc < 2) {
PCL_ERROR ("No pcd file to read... Exiting...\n");
print_help ();
return (-1);
}
if (pcl::io::loadPCDFile<pcl::PointXYZI> (argv[1], *cloud) == -1) //* load the file
{
PCL_ERROR ("Couldn't read file %s \n", argv[1]);
print_help ();
return (-1);
}
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;
pcl::console::parse_argument (argc, argv, "--volume_size", volume_size);
pcl::console::parse_argument (argc, argv, "-vs", volume_size);
PCL_WARN ("Processing world with volume size set to %.2f meters\n", volume_size);
pcl::gpu::kinfuLS::StandaloneMarchingCubes<pcl::PointXYZI> m_cubes (pcl::device::kinfuLS::VOLUME_X, pcl::device::kinfuLS::VOLUME_Y, pcl::device::kinfuLS::VOLUME_Z, volume_size);
//~ //Creating the output
//~ boost::shared_ptr<pcl::PolygonMesh> mesh_ptr_;
//~ std::vector< boost::shared_ptr<pcl::PolygonMesh> > meshes;
m_cubes.getMeshesFromTSDFVector (clouds, transforms);
PCL_INFO ("Done!\n");
return (0);
}
catch (const pcl::PCLException& /*e*/) { PCL_ERROR ("PCLException... Exiting...\n"); }
catch (const std::bad_alloc& /*e*/) { PCL_ERROR ("Bad alloc... Exiting...\n"); }
catch (const std::exception& /*e*/) { PCL_ERROR ("Exception... Exiting...\n"); }
return (-1);
}
bool WorldDownloadManager::marchingCubes(pcl::PointCloud<pcl::PointXYZI>::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;
// CHANGE PCL 1.8
std::vector<Eigen::Vector3f> transforms;
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > transforms_alloc;
//Get world as a vector of cubes
// CHANGE PCL 1.8
// wm.getWorldAsCubes (pcl::device::kinfuLS::VOLUME_X, clouds, transforms, 0.025); // 2.5% overlapp (12 cells with a 512-wide cube)
wm.getWorldAsCubes (pcl::device::kinfuLS::VOLUME_X, clouds, transforms_alloc, 0.025); // 2.5% overlapp (12 cells with a 512-wide cube)
// CHANGE PCL 1.8 TODO: More elegant way of copying?
for(std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >::iterator it = transforms_alloc.begin(); it != transforms_alloc.end(); ++it) {
transforms.push_back(*it);
}
//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> m_cubes (pcl::device::kinfuLS::VOLUME_X,
pcl::device::kinfuLS::VOLUME_Y, pcl::device::kinfuLS::VOLUME_Z, volume_size);
m_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; }
}
