TEST (PCL, NormalEstimationOpenMPEigen)
{
NormalEstimationOMP<PointXYZ, Eigen::MatrixXf> n (4); // instantiate 4 threads
// Object
PointCloud<Eigen::MatrixXf>::Ptr normals (new PointCloud<Eigen::MatrixXf>);
// set parameters
PointCloud<PointXYZ>::Ptr cloudptr = cloud.makeShared ();
n.setInputCloud (cloudptr);
EXPECT_EQ (n.getInputCloud (), cloudptr);
boost::shared_ptr<vector<int> > indicesptr (new vector<int> (indices));
n.setIndices (indicesptr);
EXPECT_EQ (n.getIndices (), indicesptr);
n.setSearchMethod (tree);
EXPECT_EQ (n.getSearchMethod (), tree);
n.setKSearch (static_cast<int> (indices.size ()));
// estimate
n.computeEigen (*normals);
EXPECT_EQ (normals->points.rows (), indices.size ());
for (int i = 0; i < normals->points.rows (); ++i)
{
EXPECT_NEAR (normals->points.row (i)[0], -0.035592, 1e-4);
EXPECT_NEAR (normals->points.row (i)[1], -0.369596, 1e-4);
EXPECT_NEAR (normals->points.row (i)[2], -0.928511, 1e-4);
EXPECT_NEAR (normals->points.row (i)[3], 0.0693136, 1e-4);
}
}
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);
}
