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| cv::viz::Mesh load(InputArray pointCloud){ | |
| vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New(); | |
| cloud_source->SetCloud(pointCloud); | |
| vtkSmartPointer<vtkPolyData> polydata = cloud_source->GetOutput(); | |
| Mesh mesh; | |
| vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New(); | |
| sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords); | |
| sink->SetInputConnection(reader->GetOutputPort()); | |
| sink->Write(); | |
| // Now handle the polygons | |
| vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys(); | |
| mesh.polygons.create(1, polygons->GetSize(), CV_32SC1); | |
| int* poly_ptr = mesh.polygons.ptr<int>(); | |
| polygons->InitTraversal(); | |
| vtkIdType nr_cell_points, *cell_points; | |
| while (polygons->GetNextCell(nr_cell_points, cell_points)) | |
| { | |
| *poly_ptr++ = nr_cell_points; | |
| for (vtkIdType i = 0; i < nr_cell_points; ++i) | |
| *poly_ptr++ = (int)cell_points[i]; | |
| } | |
| return mesh; | |
| } | |
| Mesh mesh = load(pointCloud); //pointCloud è restituita da reproject3d | |
| //Costruzione finestra per visualizzazione | |
| viz::Viz3d myWindow("Coordinate Frame"); | |
| /// Add coordinate axes | |
| myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); | |
| myWindow.setBackgroundColor(viz::Color::gray()); | |
| myWindow.spin(); | |
| //WMesh da mesh | |
| viz::WMesh mesh_widget(mesh); | |
| mesh_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); | |
| myWindow.showWidget("point cloud", mesh_widget); |
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