bool save(const Path &path, const std::vector<Vertex> &verts, const std::vector<TriangleI> &tris)
{
if (path.testExtension("wo3"))
return saveWo3(path, verts, tris);
else if (path.testExtension("obj"))
return saveObj(path, verts, tris);
return false;
}
int main(int argc, char** argv)
{
if (argc != 4) {
printUsage(argv[0]);
return 1;
}
std::vector<float> verts;
std::vector<int> nvertsPerFace;
std::vector<int> faceverts;
if (!loadOBJ(argv[1], verts, nvertsPerFace, faceverts)) {
printf("could not load %s\n", argv[1]);
return 1;
}
saveObj(argv[2]);
for (int i = 0; i < 1; i++) {
Subd subd(verts.size()/3, &verts[0], nvertsPerFace.size(),
&nvertsPerFace[0], &faceverts[0]);
// timer t;
// for (int i = 0; i < 1; i++) {
// subd.subdivide(2);
// }
// t.stop();
// saveObj(argv[2], &subd, /*limit=*/ 1);
int numsamples = atoi(argv[3]);
double du = 1.0 / (numsamples-1);
double dv = du;
for (int f = 0; f < subd.nfaces(); f++) {
double u = 0.0;
for (int i = 0; i < numsamples; u += du, i++) {
double v = 0.0;
for (int j = 0; j < numsamples; v += dv, j++) {
double p[3], dpdu[3], dpdv[3];
subd.eval(f, u, v, p, dpdu, dpdv);
addLine(p, dpdu);
addLine(p, dpdv);
}
}
}
}
return 0;
}
void colorRecons(std::string infile, std::string outfile) {
sensor_msgs::PointCloud2 cloud_blob;
// run this from BodyScanner/build/surface_reconstructor/
pcl::io::loadPCDFile(infile, cloud_blob);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB> ());
pcl::fromROSMsg(cloud_blob, *cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr filtered_cloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
int l = 0;
for(int j = 0; j < 480; j += 1) {
for(int i = j%2; i < 640; i += 2) {
int k = i + j*640;
pcl::PointXYZRGB& p = (*cloud)[k];
pcl::PointXYZ pp;
pcl::PointXYZRGB pc;
pc.x = pp.x = p.x;
pc.y = pp.y = p.y;
pc.z = pp.z = p.z;
pc.r = p.r;
pc.g = p.g;
pc.b = p.b;
//pp.nx = 0; pp.ny = 0; pp.nz = 0;
//if((i&1 && j&1) // keep 1/4 of the points
if(mag(p) < 3) { // keep only points within a close distance to the origin
filtered_cloud->push_back(pp);
filtered_cloud_color->push_back(pc);
}
}
}
// Normal estimation*
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
pcl::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::KdTreeFLANN<pcl::PointXYZ>);
tree->setInputCloud(filtered_cloud);
n.setInputCloud(filtered_cloud);
n.setSearchMethod(tree);
n.setKSearch(20);
n.compute(*normals);
// Concatenate the XYZ and normal fields*
pcl::PointCloud<pcl::PointNormal>::Ptr filtered_cloud_with_normals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*filtered_cloud, *normals, *filtered_cloud_with_normals);
// Create search tree*
pcl::KdTree<pcl::PointNormal>::Ptr tree2(new pcl::KdTreeFLANN<pcl::PointNormal>);
tree2->setInputCloud(filtered_cloud_with_normals);
// Initialize objects
pcl::GreedyProjectionTriangulation<pcl::PointNormal> gp3;
pcl::PolygonMesh triangles;
// Set the maximum distance between connected points (maximum edge length)
gp3.setSearchRadius(0.1);
// Set typical values for the parameters
gp3.setMu(2.5);
gp3.setMaximumNearestNeighbors(50); // reducing this didn't fix flips
setMaximumSurfaceAngle(gp3, M_PI/4); // 45 degrees
gp3.setMinimumAngle(M_PI/18); // 10 degrees
gp3.setMaximumAngle(2*M_PI/3); // 120 degrees
gp3.setNormalConsistency(true); // changing this didn't fix flips
// Get result
gp3.setInputCloud(filtered_cloud_with_normals);
gp3.setSearchMethod(tree2);
gp3.reconstruct(triangles);
saveObj(outfile, triangles, filtered_cloud_color);
}
BOOL CALLBACK GroupObjectProc (HWND hDlg, UINT message,
WPARAM wParam, LPARAM lParam)
{
OBJECTID hobjGroup ;
int Index ;
OBJECTID theObj ;
switch (message)
{
case WM_INITDIALOG:
AUtlSetTitleFont(OTYPE_GROUP, NULL, GetDlgItem(hDlg, IDD_OBJECT));
AUtlCenterDialog(hDlg, 0);
SetWindowLong(hDlg, DWL_USER, lParam) ;
hobjGroup = (OBJECTID)lParam ;
InitDialog(hDlg, hobjGroup) ;
return FALSE ;
case WM_COMMAND:
if (LOWORD(wParam) >= textB && LOWORD(wParam) <= otherB)
{
CheckRadioButton (hDlg, textB, otherB, LOWORD(wParam)) ;
UpdateObjectList(hDlg, LOWORD(wParam)) ;
return TRUE ;
}
switch (LOWORD(wParam))
{
case IDD_OBJECTSLIST:
//switch (HIWORD (lParam))
switch(HIWORD(wParam))
{
case LBN_SELCHANGE:
EnableWindow(GetDlgItem(hDlg, addB), TRUE) ;
return TRUE ;
case LBN_DBLCLK:
AddItem(hDlg) ;
return TRUE ;
}
break ;
case IDD_FIELDSLIST:
switch (HIWORD (lParam))
{
case LBN_SELCHANGE:
EnableWindow (GetDlgItem(hDlg, removeB), TRUE) ;
//if (SendDlgItemMessage (hDlg, IDD_FIELDSLIST, LB_GETSELCOUNT, 0, 0L)==1)
if (ListBox_GetSelCount (GetDlgItem(hDlg, IDD_FIELDSLIST))==1)
EnableWindow (GetDlgItem(hDlg, editB), TRUE) ;
else
EnableWindow (GetDlgItem(hDlg, editB), FALSE) ;
return TRUE ;
case LBN_DBLCLK:
Index = (int)ListBox_GetCurSel(GetDlgItem(hDlg, IDD_FIELDSLIST)) ;
theObj = (OBJECTID)ListBox_GetItemData(GetDlgItem (hDlg,IDD_FIELDSLIST), Index) ;
//theObj =(OBJECTID) SendDlgItemMessage (hDlg, IDD_FIELDSLIST, LB_GETITEMDATA, Index, 0) ;
return (AObjEdit(theObj) == A_MODIFIED);
}
break ;
case addB:
AddItem(hDlg) ;
//EnableWindow (GetDlgItem(hDlg, addB), FALSE) ;
return TRUE ;
case removeB:
RemoveItem(hDlg) ;
return TRUE ;
case editB:
EditItem(hDlg) ;
return TRUE ;
case IDOK:
// save the File object's default extention
// save the typeIDs for each object to be stored
hobjGroup =(OBJECTID)GetWindowLong (hDlg, DWL_USER) ;
saveObj (hDlg, hobjGroup) ;
EndDialog (hDlg, TRUE) ;
return TRUE ;
case IDCANCEL:
EndDialog (hDlg, FALSE) ;
return TRUE ;
case IDHELP:
WinHelp (hDlg, "serhelp.hlp", HELP_CONTEXT, HELPID_OBJD_Grup) ;
return TRUE ;
}
}
return FALSE ;
}
