예제 #1
0
void FSModel::convertPointCloudToSurfaceMesh3()
{
    /*pcl::MovingLeastSquares<PointXYZRGB, PointXYZ> mls;
    mls.setInputCloud (pointCloud);
    mls.setSearchRadius (0.01);
    mls.setPolynomialFit (true);
    mls.setPolynomialOrder (2);
    mls.setUpsamplingMethod (pcl::MovingLeastSquares<PointXYZRGB, PointXYZ>::SAMPLE_LOCAL_PLANE);
    mls.setUpsamplingRadius (0.005);
    mls.setUpsamplingStepSize (0.003);

    pcl::PointCloud<PointXYZ>::Ptr cloud_smoothed (new pcl::PointCloud<PointXYZ> ());
    mls.process (*cloud_smoothed);*/

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
    cloud->points.resize(pointCloud->size());
    for (size_t i = 0; i < pointCloud->points.size(); i++) {
        cloud->points[i].x = pointCloud->points[i].x;
        cloud->points[i].y = pointCloud->points[i].y;
        cloud->points[i].z = pointCloud->points[i].z;
    }

    pcl::NormalEstimation<pcl::PointXYZ, Normal> ne;
    //ne.setNumberOfThreads(8);
    ne.setInputCloud (cloud);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
    ne.setSearchMethod (tree);
    ne.setRadiusSearch (0.01);
    Eigen::Vector4f centroid;
    compute3DCentroid (*cloud, centroid);
    ne.setViewPoint (centroid[0], centroid[1], centroid[2]);
    qDebug() << "Centroid:"<<centroid[0] <<centroid[1]<<centroid[2];
    PointCloud<Normal>::Ptr cloud_normals (new PointCloud<Normal> ());
    ne.compute (*cloud_normals);
    //invert all normals, primarly they all point to the centroid
    for (size_t i = 0; i < cloud_normals->size (); ++i) {
        cloud_normals->points[i].normal_x *= -1;
        cloud_normals->points[i].normal_y *= -1;
        cloud_normals->points[i].normal_z *= -1;
    }
    PointCloud<PointNormal>::Ptr cloud_smoothed_normals (new PointCloud<PointNormal> ());
    concatenateFields (*cloud, *cloud_normals, *cloud_smoothed_normals);
    //concatenateFields (*cloud_smoothed, *cloud_normals, *cloud_smoothed_normals);*/

    Poisson<PointNormal> poisson;
    poisson.setScale(1.0);
    poisson.setDepth (9);
    poisson.setDegree(2);
    poisson.setSamplesPerNode(3);
    poisson.setIsoDivide(8);
    poisson.setConfidence(0);
    poisson.setManifold(0);
    poisson.setOutputPolygons(0);
    poisson.setSolverDivide(8);
    poisson.setInputCloud(cloud_smoothed_normals);
    poisson.reconstruct(surfaceMeshPoisson);
    //pcl::io::savePLYFile("meshPoisson.ply", surfaceMeshPoisson);
    FSController::getInstance()->meshComputed=true;
}
예제 #2
0
void
compute (const sensor_msgs::PointCloud2::ConstPtr &input, PolygonMesh &output,
         int depth, int solver_divide, int iso_divide)
{
  PointCloud<PointNormal>::Ptr xyz_cloud (new pcl::PointCloud<PointNormal> ());
  fromROSMsg (*input, *xyz_cloud);

	Poisson<PointNormal> poisson;
	poisson.setDepth (depth);
	poisson.setSolverDivide (solver_divide);
	poisson.setIsoDivide (iso_divide);
  poisson.setInputCloud (xyz_cloud);


  TicToc tt;
  tt.tic ();

  print_highlight ("Computing ");
  poisson.reconstruct (output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms]\n");
}