Function main

examples/cpp/polylidar-full-example.cpp:37–136

}

int main(int argc, char const* argv[])
{
    std::cout << "A more complete example of using Polylidar3D with 3D Data. Needs Open3D and FastGA." << std::endl;

    // Load Point Cloud Data
    std::vector<unsigned long> shape;
    bool fortran_order;
    std::vector<double> data;
    std::cout << "Loading previously captured Organized Point Cloud from an L515 Camera." << std::endl;
    try
    {
        std::cout << "Attempting to load OPC file from ./fixtures/realsense/opc_example_one/L515_OPC.npy" << std::endl;
        npy::LoadArrayFromNumpy("./fixtures/realsense/opc_example_one/L515_OPC.npy", shape, fortran_order, data);
    }
    catch (const std::exception& e)
    {
        try
        {
            std::cout << "Last chance. Trying to load OPC file from ../fixtures/realsense/opc_example_one/L515_OPC.npy"
                      << std::endl;
            npy::LoadArrayFromNumpy("../fixtures/realsense/opc_example_one/L515_OPC.npy", shape, fortran_order, data);
        }
        catch (const std::exception& e)
        {
            std::cout << "Can't find L515_OPC.npy file. Exiting..." << std::endl;
            std::exit(1);
        }
    }

    // Create Matrix Wrapper around Point Cloud Data (no copy)
    std::cout << "Shape of Point Cloud is: " << shape << std::endl;
    auto num_points = shape[0] * shape[1];
    auto cols = shape[2]; // 3
    // Expected to be a num_points X 3 array but **organized* in memory
    Polylidar::Matrix<double> opc(data.data(), num_points, cols);

    // Visualize Point Cloud
    std::cout << "Visualizing Point Cloud. Rotate View. Close Open3D window when satisfied..." << std::endl;
    auto pcd_eigen = VisUtility::MapEigen<Eigen::Vector3d>(opc);
    std::shared_ptr<open3d::geometry::PointCloud> pointcloud_ptr(new open3d::geometry::PointCloud(pcd_eigen));
    open3d::visualization::DrawGeometries({pointcloud_ptr});

    // Create Mesh From Point Cloud
    std::cout << "Creating Mesh and smoothing. NOT using optimized filters, see OrganizedPointFilters" << std::endl;
    Polylidar::MeshHelper::HalfEdgeTriangulation tri_mesh;
    Polylidar::VUI valid_idx;
    std::tie(tri_mesh, valid_idx) =
        Polylidar::MeshHelper::ExtractTriMeshFromOrganizedPointCloud(opc, shape[0], shape[1], 1, true);
    Polylidar::MeshHelper::LaplacianFilterVertices(tri_mesh, 3, 1.0);
    tri_mesh.ComputeTriangleNormals();
    Polylidar::MeshHelper::BilateralFilterNormals(tri_mesh, 5, 0.2, 0.25);

    // Visualize Mesh
    std::cout << "Visualizing mesh. Rotate View." << std::endl;
    auto o3d_mesh = VisUtility::CreateOpen3DMesh(tri_mesh);
    open3d::visualization::DrawGeometries({o3d_mesh});

    // Find Dominant Plane Normals