Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

obj_to_pointcloud: support pcd file #29

Merged
merged 1 commit into from
Mar 16, 2017
Merged

obj_to_pointcloud: support pcd file #29

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
103 changes: 63 additions & 40 deletions obj_to_pointcloud/src/obj_to_pointcloud.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -108,59 +108,82 @@ class obj_to_pointcloud

pcl::PointXYZ offset((float)offset_x, (float)offset_y, (float)offset_z);

pc_rs->points.reserve(500000);
for(auto &file: files)
{
if(pcl::io::loadPolygonFileOBJ(file, *mesh) == -1)
{
ROS_ERROR("Failed to load OBJ file");
ros::shutdown();
return pc_msg;
}
auto ext = file.substr(file.find_last_of(".") + 1);

pcl::fromPCLPointCloud2(mesh->cloud, *pc);
pc_rs->header = pc->header;
for(auto &p: pc->points)
if(ext == "pcd")
{
p.x *= scale;
p.y *= scale;
p.z *= scale;
if(pcl::io::loadPCDFile(file, *pc) == -1)
{
ROS_ERROR("Failed to load PCD file");
ros::shutdown();
return pc_msg;
}
for(auto &p: pc->points)
{
p.x *= scale;
p.y *= scale;
p.z *= scale;
p = p + offset;
pc_rs->points.push_back(p);
}
}

std::uniform_real_distribution<float> ud(0.0, 1.0);
for(auto &poly: mesh->polygons)
else if(ext == "obj")
{
if(poly.vertices.size() != 3)
if(pcl::io::loadPolygonFileOBJ(file, *mesh) == -1)
{
ROS_ERROR("Input mesh mush be triangle");
ROS_ERROR("Failed to load OBJ file");
ros::shutdown();
return pc_msg;
}
auto &p0 = pc->points[poly.vertices[0]];
auto &p1 = pc->points[poly.vertices[1]];
auto &p2 = pc->points[poly.vertices[2]];

auto a = p1 - p0;
auto b = p2 - p0;

float s = 0.5 * sqrtf(
powf(a.y * b.z - a.z * b.y, 2.0) +
powf(a.z * b.x - a.x * b.z, 2.0) +
powf(a.x * b.y - a.y * b.x, 2.0)
);
float numf = ppmsq * s;
int num = numf;
if(numf - num > ud(engine)) num ++;
for(int i = 0; i < num; i ++)

pcl::fromPCLPointCloud2(mesh->cloud, *pc);
pc_rs->header = pc->header;
for(auto &p: pc->points)
{
p.x *= scale;
p.y *= scale;
p.z *= scale;
}

std::uniform_real_distribution<float> ud(0.0, 1.0);
for(auto &poly: mesh->polygons)
{
float r0 = ud(engine);
float r1 = ud(engine);
if(r0 + r1 > 1.0)
if(poly.vertices.size() != 3)
{
r0 = 1.0 - r0;
r1 = 1.0 - r1;
ROS_ERROR("Input mesh mush be triangle");
ros::shutdown();
return pc_msg;
}
auto &p0 = pc->points[poly.vertices[0]];
auto &p1 = pc->points[poly.vertices[1]];
auto &p2 = pc->points[poly.vertices[2]];

auto a = p1 - p0;
auto b = p2 - p0;

float s = 0.5 * sqrtf(
powf(a.y * b.z - a.z * b.y, 2.0) +
powf(a.z * b.x - a.x * b.z, 2.0) +
powf(a.x * b.y - a.y * b.x, 2.0)
);
float numf = ppmsq * s;
int num = numf;
if(numf - num > ud(engine)) num ++;
for(int i = 0; i < num; i ++)
{
float r0 = ud(engine);
float r1 = ud(engine);
if(r0 + r1 > 1.0)
{
r0 = 1.0 - r0;
r1 = 1.0 - r1;
}
pcl::PointXYZ p = p0 + (a * r0 + b * r1) + offset;
pc_rs->points.push_back(p);
}
pcl::PointXYZ p = p0 + (a * r0 + b * r1) + offset;
pc_rs->points.push_back(p);
}
}
}
Expand Down