void plotMain(int argc, char ** argv, unsigned char * dataSet, int imageWidth, int imageHeight, int imageDepth)
{
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
glutInitWindowSize(1000, 1000);
glutInitWindowPosition (0, 0);
glutCreateWindow("Data Visualiser");
Init();
StoreDataSet(dataSet, imageWidth, imageHeight, imageDepth);
vertices = runMarchingCubes(voxels, __imageWidth, __imageWidth, __imageDepth, 1, 1, 1, 0.5); //was 32.0f
// here our scalar field holds the quaternion lengths after all iteration is complete
//for(each element value in the scalar field){
// truncate all final quaternion lengths so that there is a maximum
//if(element value > 2*threshold)
//element value = 2*threshold;
// normalize all lengths to be within the interval 0.0 through 1.0
//element value /= 2*p.threshold;
// reverse the values so that lengths which were initially greater than 0.5 are now outside of the mesh // not doing so would result in the same mesh, but the surface normals would point inward (a bad thing)
//element value = 1.0 - element value;}
// vector<vertex>::iterator it;
// for(it = vertices.begin(); it < vertices.end(); it++) {
// for (int j = 0; j < 3; j++) {
//
// }
// glNormal3d(it->normal_x, it->normal_y, it->normal_z);
// //scaling factor for z
// glVertex3d(it->x, it->y, it->z);
// }
// initialize each vertex normal to the zero vector
// for each triangle
// add triangle normal to the vertex normal for each of the triangle's vertices
// normalize each vertex normal
//
glutMouseFunc(&MouseClick);
glutKeyboardFunc(Input);
glutDisplayFunc(Display);
glutIdleFunc(Update);
DisplayUsability();
glutMainLoop();
}
template <typename PointT> typename pcl::gpu::kinfuLS::StandaloneMarchingCubes<PointT>::MeshPtr
pcl::gpu::kinfuLS::StandaloneMarchingCubes<PointT>::getMeshFromTSDFCloud (const PointCloud &cloud)
{
//Clearing TSDF GPU and cPU
std::cout << "VOLUME SIZE IS " << volume_size_ << std::endl;
//Clear values in TSDF Volume GPU
tsdf_volume_gpu_->reset (); // This one uses the same tsdf volume but clears it before loading new values. This one is our friend.
//Clear values in TSDF Volume CPU
fill (tsdf_volume_cpu_.begin (), tsdf_volume_cpu_.end (), 0);
//Loading values to GPU
loadTsdfCloudToGPU (cloud);
//Creating and returning mesh
return ( runMarchingCubes () );
}
