Function loadPolygonMeshModel

simulation/tools/sim_test_performance.cpp:338–351

Read in a 3D model

// Read in a 3D model
void
loadPolygonMeshModel(char* polygon_file)
{
  pcl::PolygonMesh mesh;
  pcl::io::loadPolygonFile(polygon_file, mesh);
  pcl::PolygonMesh::Ptr cloud(new pcl::PolygonMesh(mesh));

  TriangleMeshModel::Ptr model = TriangleMeshModel::Ptr(new TriangleMeshModel(cloud));
  scene_->add(model);

  std::cout << "Just read " << polygon_file << std::endl;
  std::cout << mesh.polygons.size() << " polygons and " << mesh.cloud.data.size()
            << " triangles\n";
}

void
initialize(int argc, char** argv)