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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 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 Willow Garage, Inc. 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/gpu/kinfu_large_scale/device.h>
#include <pcl/gpu/kinfu_large_scale/standalone_marching_cubes.h>
#include <pcl/gpu/kinfu_large_scale/impl/standalone_marching_cubes.hpp>
#include <pcl/gpu/kinfu_large_scale/world_model.h>
#include <pcl/gpu/kinfu_large_scale/impl/world_model.hpp>
#include <pcl/console/parse.h>
int
print_help ()
{
std::cout << "\nUsage:" << std::endl;
std::cout << " pcl_kinfu_largeScale_mesh_output <tsdf_world.pcd> [options]" << std::endl << std::endl ;
std::cout << "\nAvailable options:" << std::endl;
std::cout << " --help, -h : print this message" << std::endl;
std::cout << " --volume_size <in_meters> : define integration volume size. MUST match the size used when scanning." << std::endl << std::endl;
return 0;
}
int
main (int argc, char** argv)
{
if (pcl::console::find_switch (argc, argv, "--help") || pcl::console::find_switch (argc, argv, "-h"))
return print_help ();
//Reading input cloud
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZI>);
if (argc < 2) {
PCL_ERROR ("No pcd file to read... Exiting...\n");
print_help ();
return (-1);
}
if (pcl::io::loadPCDFile<pcl::PointXYZI> (argv[1], *cloud) == -1) //* load the file
{
PCL_ERROR ("Couldn't read file %s \n", argv[1]);
print_help ();
return (-1);
}
try {
// Creating world model object
pcl::kinfuLS::WorldModel<pcl::PointXYZI> wm;
//Adding current cloud to the world model
wm.addSlice (cloud);
std::vector<pcl::PointCloud<pcl::PointXYZI>::Ptr> clouds;
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > transforms;
//Get world as a vector of cubes
wm.getWorldAsCubes (pcl::device::kinfuLS::VOLUME_X, clouds, transforms, 0.025); // 2.5% overlap (12 cells with a 512-wide cube)
//Creating the standalone marching cubes instance
float volume_size = pcl::device::kinfuLS::VOLUME_SIZE;
pcl::console::parse_argument (argc, argv, "--volume_size", volume_size);
pcl::console::parse_argument (argc, argv, "-vs", volume_size);
PCL_WARN ("Processing world with volume size set to %.2f meters\n", volume_size);
pcl::gpu::kinfuLS::StandaloneMarchingCubes<pcl::PointXYZI> m_cubes (pcl::device::kinfuLS::VOLUME_X, pcl::device::kinfuLS::VOLUME_Y, pcl::device::kinfuLS::VOLUME_Z, volume_size);
//~ //Creating the output
//~ pcl::PolygonMesh::Ptr mesh_ptr_;
//~ std::vector< pcl::PolygonMesh::Ptr > meshes;
m_cubes.getMeshesFromTSDFVector (clouds, transforms);
PCL_INFO ("Done!\n");
return (0);
}
catch (const pcl::PCLException& /*e*/) { PCL_ERROR ("PCLException... Exiting...\n"); }
catch (const std::bad_alloc& /*e*/) { PCL_ERROR ("Bad alloc... Exiting...\n"); }
catch (const std::exception& /*e*/) { PCL_ERROR ("Exception... Exiting...\n"); }
return (-1);
}
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