Function main

tools/mesh_sampling.cpp:208–314

---[ */

/* ---[ */
int
main (int argc, char **argv)
{
  print_info ("Convert a CAD model to a point cloud using uniform sampling. For more information, use: %s -h\n",
              argv[0]);

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse command line arguments
  int SAMPLE_POINTS_ = default_number_samples;
  parse_argument (argc, argv, "-n_samples", SAMPLE_POINTS_);
  float leaf_size = default_leaf_size;
  parse_argument (argc, argv, "-leaf_size", leaf_size);
  bool vis_result = ! find_switch (argc, argv, "-no_vis_result");
  const bool write_normals = find_switch (argc, argv, "-write_normals");
  const bool write_colors = find_switch (argc, argv, "-write_colors");

  // Parse the command line arguments for .ply and PCD files
  std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
  if (pcd_file_indices.size () != 1)
  {
    print_error ("Need a single output PCD file to continue.\n");
    return (-1);
  }
  std::vector<int> ply_file_indices = parse_file_extension_argument (argc, argv, ".ply");
  std::vector<int> obj_file_indices = parse_file_extension_argument (argc, argv, ".obj");
  if (ply_file_indices.size () != 1 && obj_file_indices.size () != 1)
  {
    print_error ("Need a single input PLY/OBJ file to continue.\n");
    return (-1);
  }

  vtkSmartPointer<vtkPolyData> polydata1 = vtkSmartPointer<vtkPolyData>::New ();
  if (ply_file_indices.size () == 1)
  {
    pcl::PolygonMesh mesh;
    pcl::io::loadPLYFile (argv[ply_file_indices[0]], mesh);
    pcl::io::mesh2vtk (mesh, polydata1);
  }
  else if (obj_file_indices.size () == 1)
  {
    vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
    readerQuery->SetFileName (argv[obj_file_indices[0]]);
    readerQuery->Update ();
    polydata1 = readerQuery->GetOutput ();
  }

  //make sure that the polygons are triangles!
  vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New ();
  triangleFilter->SetInputData (polydata1);
  triangleFilter->Update ();

  vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
  triangleMapper->SetInputConnection (triangleFilter->GetOutputPort ());