Method computationThread

apps/in_hand_scanner/src/offline_integration.cpp:107–179

////////////////////////////////////////////////////////////////////////////////

void
pcl::ihs::OfflineIntegration::computationThread()
{
  std::vector<std::string> filenames;

  if (!this->getFilesFromDirectory(path_dir_, ".pcd", filenames)) {
    std::cerr << "ERROR in offline_integration.cpp: Could not get the files from the "
                 "directory\n";
    return;
  }

  // First cloud is reference model
  std::cerr << "Processing file " << std::setw(5) << 1 << " / " << filenames.size()
            << std::endl;
  CloudXYZRGBNormalPtr cloud_model(new CloudXYZRGBNormal());
  Eigen::Matrix4f T = Eigen::Matrix4f::Identity();
  if (!this->load(filenames[0], cloud_model, T)) {
    std::cerr << "ERROR in offline_integration.cpp: Could not load the model cloud.\n";
    return;
  }

  pcl::transformPointCloudWithNormals(*cloud_model, *cloud_model, T);

  if (!integration_->reconstructMesh(cloud_model, mesh_model_)) {
    std::cerr
        << "ERROR in offline_integration.cpp: Could not reconstruct the model mesh.\n";
    return;
  }

  Base::setPivot("model");
  Base::addMesh(mesh_model_, "model");

  if (filenames.empty()) {
    return;
  }

  for (std::size_t i = 1; i < filenames.size(); ++i) {
    std::cerr << "Processing file " << std::setw(5) << i + 1 << " / "
              << filenames.size() << std::endl;

    {
      std::lock_guard<std::mutex> lock(mutex_);
      if (destructor_called_)
        return;
    }
    std::unique_lock<std::mutex> lock_quit(mutex_quit_);

    CloudXYZRGBNormalPtr cloud_data(new CloudXYZRGBNormal());
    if (!this->load(filenames[i], cloud_data, T)) {
      std::cerr << "ERROR in offline_integration.cpp: Could not load the data cloud.\n";
      return;
    }

    if (!integration_->merge(cloud_data, mesh_model_, T)) {
      std::cerr << "ERROR in offline_integration.cpp: merge failed.\n";
      return;
    }