Prepare default pipeline for KinFu client example

roboticslab-uc3m · Jun 22, 2024 · 5ce9f0b · 5ce9f0b
1 parent cf2a0bb
commit 5ce9f0b
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Showing 3 changed files with 22 additions and 2 deletions.
diff --git a/examples/cpp/exampleSceneReconstructionClient/CMakeLists.txt b/examples/cpp/exampleSceneReconstructionClient/CMakeLists.txt
@@ -17,3 +17,5 @@ target_link_libraries(exampleSceneReconstructionClient YARP::YARP_os
                                                        YARP::YARP_sig
                                                        ROBOTICSLAB::YarpCloudUtils
                                                        ROBOTICSLAB::VisionIDL)
+
+target_compile_definitions(exampleSceneReconstructionClient PRIVATE SAMPLE_CONFIG="${CMAKE_CURRENT_SOURCE_DIR}/pipeline.ini")
diff --git a/examples/cpp/exampleSceneReconstructionClient/main.cpp b/examples/cpp/exampleSceneReconstructionClient/main.cpp
@@ -30,8 +30,16 @@ int main(int argc, char * argv[])
         return 1;
     }
 
-    yarp::os::ResourceFinder options;
-    options.configure(argc, argv);
+    yarp::os::ResourceFinder rf;
+    rf.configure(argc, argv);
+
+    yarp::os::Property options(rf.toString().c_str());
+
+#ifdef SAMPLE_CONFIG
+    // set sensible defaults
+    std::string sampleConfigFile = SAMPLE_CONFIG;
+    options.fromConfigFile(sampleConfigFile, false);
+#endif
 
     yDebug() << "Config:" << options.toString();
 

diff --git a/examples/cpp/exampleSceneReconstructionClient/pipeline.ini b/examples/cpp/exampleSceneReconstructionClient/pipeline.ini
@@ -0,0 +1,10 @@
+[meshPipeline downsample]
+algorithm "VoxelGrid"
+leafSize 0.02f
+
+[meshPipeline estimate]
+algorithm "NormalEstimationOMP"
+kSearch 40
+
+[meshPipeline reconstruct]
+algorithm "Poisson"