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mesh2pcd.cpp
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175 lines (157 loc) · 6.23 KB
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkPolyDataMapper.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
int default_tesselated_sphere_level = 2;
int default_resolution = 100;
float default_leaf_size = 0.01f;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.{ply,obj} output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -level X = tessellated sphere level (default: ");
print_value ("%d", default_tesselated_sphere_level);
print_info (")\n");
print_info (" -resolution X = the sphere resolution in angle increments (default: ");
print_value ("%d", default_resolution);
print_info (" deg)\n");
print_info (
" -leaf_size X = the XYZ leaf size for the VoxelGrid -- for data reduction (default: ");
print_value ("%f", default_leaf_size);
print_info (" m)\n");
print_info (
" -no_vis_result = flag to stop visualizing the generated pcd\n");
}
/* ---[ */
int
main (int argc, char **argv)
{
print_info ("Convert a CAD model to a point cloud using ray tracing operations. For more information, use: %s -h\n",
argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse command line arguments
int tesselated_sphere_level = default_tesselated_sphere_level;
parse_argument (argc, argv, "-level", tesselated_sphere_level);
int resolution = default_resolution;
parse_argument (argc, argv, "-resolution", resolution);
float leaf_size = default_leaf_size;
parse_argument (argc, argv, "-leaf_size", leaf_size);
bool vis_result = ! find_switch (argc, argv, "-no_vis_result");
// Parse the command line arguments for .ply and PCD files
std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if (pcd_file_indices.size () != 1)
{
print_error ("Need a single output PCD file to continue.\n");
return (-1);
}
std::vector<int> ply_file_indices = parse_file_extension_argument (argc, argv, ".ply");
std::vector<int> obj_file_indices = parse_file_extension_argument (argc, argv, ".obj");
if (ply_file_indices.size () != 1 && obj_file_indices.size () != 1)
{
print_error ("Need a single input PLY/OBJ file to continue.\n");
return (-1);
}
vtkSmartPointer<vtkPolyData> polydata1;
if (ply_file_indices.size () == 1)
{
vtkSmartPointer<vtkPLYReader> readerQuery = vtkSmartPointer<vtkPLYReader>::New ();
readerQuery->SetFileName (argv[ply_file_indices[0]]);
readerQuery->Update ();
polydata1 = readerQuery->GetOutput ();
}
else if (obj_file_indices.size () == 1)
{
vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
readerQuery->SetFileName (argv[obj_file_indices[0]]);
readerQuery->Update ();
polydata1 = readerQuery->GetOutput ();
}
visualization::PCLVisualizer vis;
vis.addModelFromPolyData (polydata1, "mesh1", 0);
vis.setRepresentationToSurfaceForAllActors ();
PointCloud<PointXYZ>::CloudVectorType views_xyz;
std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > poses;
std::vector<float> enthropies;
vis.renderViewTesselatedSphere (resolution, resolution, views_xyz, poses, enthropies, tesselated_sphere_level);
//take views and fuse them together
std::vector<PointCloud<PointXYZ>::Ptr> aligned_clouds;
for (std::size_t i = 0; i < views_xyz.size (); i++)
{
PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ> ());
Eigen::Matrix4f pose_inverse;
pose_inverse = poses[i].inverse ();
transformPointCloud (views_xyz[i], *cloud, pose_inverse);
aligned_clouds.push_back (cloud);
}
// Fuse clouds
PointCloud<PointXYZ>::Ptr big_boy (new PointCloud<PointXYZ> ());
for (const auto &aligned_cloud : aligned_clouds)
*big_boy += *aligned_cloud;
if (vis_result)
{
visualization::PCLVisualizer vis2 ("visualize");
vis2.addPointCloud (big_boy);
vis2.spin ();
}
// Voxelgrid
VoxelGrid<PointXYZ> grid_;
grid_.setInputCloud (big_boy);
grid_.setLeafSize (leaf_size, leaf_size, leaf_size);
grid_.filter (*big_boy);
if (vis_result)
{
visualization::PCLVisualizer vis3 ("visualize");
vis3.addPointCloud (big_boy);
vis3.spin ();
}
savePCDFileASCII (argv[pcd_file_indices[0]], *big_boy);
}