点群からマーチングキューブス(Hoppe)で面を作成(PCLライブラリ)

  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66

 
 
 
 
 
 
 
 
-
|
|
|
-
|
|
!
|
|
|
-
!
|
|
|
-
!
-
!
|
|
|
|
|
|
|
-
!
-
!
|
-
!
-
!
|
|
-
!
|
|
-
!
|
|
|
-
!
|
|
|
|
|
-
!
!
 

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/marching_cubes_hoppe.h>
 
int
main (int argc, char** argv)
{
  std::string input_file, output_file;
 
  if (argc < 3)
  {
    printf ("\nUsage: marching_cubes_hoppe pcd<PointXYZ>-in-file vtk-out-file\n\n");
    exit(0);
  }
  input_file = argv[1];
  output_file = argv[2];
 
  // Load input file into a PointCloud<T> with an appropriate type
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PCLPointCloud2 cloud_blob;
  pcl::io::loadPCDFile (input_file, cloud_blob);
  pcl::fromPCLPointCloud2 (cloud_blob, *cloud);
  //* the data should be available in cloud
 
  // Normal estimation*
  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
  pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
  tree->setInputCloud (cloud);
  n.setInputCloud (cloud);
  n.setSearchMethod (tree);
  n.setKSearch (20);
  n.compute (*normals);
  //* normals should not contains the point normals + surface curvatures
 
  // Concatenate the XYZ and normal fields*
  pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);
  pcl::concatenateFields (*cloud, *normals, *cloud_with_normals);
  //* cloud_with_normals = cloud + normals
 
  // Create search tree
  pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);
  tree2->setInputCloud (cloud_with_normals);
 
  // Initialize objects
  pcl::MarchingCubesHoppe<pcl::PointNormal> mc;
  pcl::PolygonMesh triangles;
 
  // Set parameters
  mc.setIsoLevel (0.0);
  mc.setGridResolution(100, 100, 100);
  mc.setPercentageExtendGrid(0.3f);
 
  // Get result
  mc.setInputCloud (cloud_with_normals);
  mc.setSearchMethod (tree2);
  mc.reconstruct (triangles);
 
  pcl::io::saveVTKFile (output_file, triangles);
 
  // Finish
  return (0);
}