void fromJsonArray(const Json::Value& parent, std::vector<T>& ref, int size) {
if (parent.size() != size) {
PRINT_AND_THROW(boost::format("expected list of size size %i. got: %s\n")%size%parent);
}
else {
fromJsonArray(parent, ref);
}
}
void childFromJson(const Json::Value& parent, T& ref, const char* name) {
if (parent.isMember(name)) {
const Json::Value& v = parent[name];
fromJson(v, ref);
}
else {
PRINT_AND_THROW(boost::format("missing field: %s")%name);
}
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr CloudGrabberImpl::getXYZRGB() {
if (m_ss == IDLE) {
printf("start streaming just for this point cloud\n");
startXYZRGB();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr out = getXYZRGB();
stop();
return out;
}
else if (m_ss == XYZRGB) {
m_rs = PENDING;
while (m_rs == PENDING) sleep(.01);
return m_xyzrgb;
}
else PRINT_AND_THROW("asked for xyzrgb but currently streaming xyz");
}
pcl::PolygonMesh::Ptr quadricSimplifyVTK(pcl::PolygonMesh& in, float meshDecimationFrac) {
if (meshDecimationFrac < 0 || meshDecimationFrac > 1) PRINT_AND_THROW("expected 0 <= meshDecimationFrac <= 1");
vtkSmartPointer<vtkPolyData> inputPolyData =
vtkSmartPointer<vtkPolyData>::New();
toVTK(in, *inputPolyData);
vtkSmartPointer<vtkQuadricDecimation2> decimate = vtkSmartPointer<
vtkQuadricDecimation2>::New();
decimate->SetTargetReduction(1-meshDecimationFrac);
decimate->SetInput(inputPolyData.GetPointer());
decimate->Update();
vtkSmartPointer<vtkPolyData> decimated = vtkSmartPointer<vtkPolyData>::New();
decimated->ShallowCopy(decimate->GetOutput());
PolygonMesh::Ptr out(new PolygonMesh());
toPCL(*decimated, *out);
return out;
}
