TEST (PCL, MarchingCubesTest)
{
MarchingCubesHoppe<PointNormal> hoppe;
hoppe.setIsoLevel (0);
hoppe.setGridResolution (30, 30, 30);
hoppe.setPercentageExtendGrid (0.3f);
hoppe.setInputCloud (cloud_with_normals);
PointCloud<PointNormal> points;
std::vector<Vertices> vertices;
hoppe.reconstruct (points, vertices);
EXPECT_NEAR (points.points[points.size()/2].x, -0.037143, 1e-3);
EXPECT_NEAR (points.points[points.size()/2].y, 0.098213, 1e-3);
EXPECT_NEAR (points.points[points.size()/2].z, -0.044911, 1e-3);
EXPECT_EQ (vertices[vertices.size ()/2].vertices[0], 11202);
EXPECT_EQ (vertices[vertices.size ()/2].vertices[1], 11203);
EXPECT_EQ (vertices[vertices.size ()/2].vertices[2], 11204);
MarchingCubesRBF<PointNormal> rbf;
rbf.setIsoLevel (0);
rbf.setGridResolution (20, 20, 20);
rbf.setPercentageExtendGrid (0.1f);
rbf.setInputCloud (cloud_with_normals);
rbf.setOffSurfaceDisplacement (0.02f);
rbf.reconstruct (points, vertices);
EXPECT_NEAR (points.points[points.size()/2].x, -0.025630, 1e-3);
EXPECT_NEAR (points.points[points.size()/2].y, 0.135228, 1e-3);
EXPECT_NEAR (points.points[points.size()/2].z, 0.035766, 1e-3);
EXPECT_EQ (vertices[vertices.size ()/2].vertices[0], 4275);
EXPECT_EQ (vertices[vertices.size ()/2].vertices[1], 4276);
EXPECT_EQ (vertices[vertices.size ()/2].vertices[2], 4277);
}
int
main (int argc, char** argv)
{
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
if(io::loadPLYFile<PointXYZ> (argv[1], *cloud) == -1){
cout << "ERROR: couldn't find file" << endl;
return (1);
} else {
cout << "loaded" << endl;
NormalEstimationOMP<PointXYZ, Normal> ne;
search::KdTree<PointXYZ>::Ptr tree1 (new search::KdTree<PointXYZ>);
tree1->setInputCloud (cloud);
ne.setInputCloud (cloud);
ne.setSearchMethod (tree1);
ne.setKSearch (20);
PointCloud<Normal>::Ptr normals (new PointCloud<Normal>);
ne.compute (*normals);
// Concatenate the XYZ and normal fields*
PointCloud<PointNormal>::Ptr cloud_with_normals (new PointCloud<PointNormal>);
concatenateFields(*cloud, *normals, *cloud_with_normals);
// Create search tree*
search::KdTree<PointNormal>::Ptr tree (new search::KdTree<PointNormal>);
tree->setInputCloud (cloud_with_normals);
cout << "begin marching cubes reconstruction" << endl;
MarchingCubesRBF<PointNormal> mc;
PolygonMesh::Ptr triangles(new PolygonMesh);
mc.setInputCloud (cloud_with_normals);
mc.setSearchMethod (tree);
mc.reconstruct (*triangles);
cout << triangles->polygons.size() << " triangles created" << endl;
}
return (0);
}
