int
main (int argc, char** argv)
{
// Make sure that we have the right number of arguments
if (argc != 2)
{
print_info ("\nVisualizes the hash table after adding the provided mesh to it.\n"
"usage:\n"
"./obj_rec_ransac_hash_table <mesh.vtk>\n");
return (-1);
}
ObjRecRANSAC::PointCloudIn points_in;
ObjRecRANSAC::PointCloudN normals_in;
double b[6];
if ( !vtk_to_pointcloud (argv[1], points_in, normals_in, b) )
return (-1);
// Compute the bounding box diagonal
float diag = static_cast<float> (sqrt (my_sqr (b[1]-b[0]) + my_sqr (b[3]-b[2]) + my_sqr (b[5]-b[4])));
// Create the recognition object (we need it only for its hash table)
ObjRecRANSAC objrec (diag/8.0f, diag/60.0f);
objrec.addModel (points_in, normals_in, "test_model");
// Start visualization (and the main VTK loop)
visualize (objrec.getHashTable ());
return (0);
}
int
main (int argc, char** argv)
{
// Make sure that we have the right number of arguments
if (argc != 2)
{
print_info ("\nVisualizes the hash table after adding the provided mesh to it.\n"
"usage:\n"
"./visualize_obj_rec_ransac_hash_table mesh.vtk\n");
return (-1);
}
// Parse the command line arguments for .vtk files
if ( parse_file_extension_argument (argc, argv, ".vtk").size () != 1 )
{
print_error ("We need a .vtk object.\n");
return (-1);
}
// Load the model
vtkPolyDataReader *vtk_reader = vtkPolyDataReader::New ();
vtk_reader->SetFileName (argv[1]);
vtk_reader->Update ();
vtkPolyData *vtk_mesh = vtk_reader->GetOutput ();
// Get the bounds of the mesh
double mb[6];
vtk_mesh->ComputeBounds ();
vtk_mesh->GetBounds (mb);
// Create a point cloud with normals
ModelLibrary::PointCloudInPtr eigen_points (new ModelLibrary::PointCloudIn ());
ModelLibrary::PointCloudNPtr eigen_normals (new ModelLibrary::PointCloudN ());
if ( !get_points_and_normals (vtk_mesh, *eigen_points.get(), *eigen_normals.get()) )
{
vtk_reader->Delete ();
return (-1);
}
// Compute the bounding box diagonal
double diag = sqrt (my_sqr (mb[1]-mb[0]) + my_sqr (mb[3]-mb[2]) + my_sqr (mb[5]-mb[4]));
// Create the recognition object (we need it only for its hash table)
ObjRecRANSAC objrec (diag/8.0, diag/20.0);
printf("Adding the model to the library ... "); fflush (stdout);
objrec.addModel (eigen_points, eigen_normals, string ("test_model"));
printf("OK\n");
// Start visualization (and the main VTK loop)
visualize (objrec.getHashTable ());
// Cleanup
vtk_reader->Delete ();
return 0;
}