Surface reconstruction error - PCL 1.6

Question

I followed exactly the tutorial I found here, with some modification for the input. Then my code is:

#include <common/common.h>
#include <io/pcd_io.h>
#include <features/normal_3d_omp.h>
#include <surface/mls.h>
#include <surface/poisson.h>
#include <pcl/io/vtk_io.h>
using namespace pcl;

int main (int argc, char **argv)
{
    if (argc != 1)
    {
        PCL_ERROR ("Syntax: %s input.pcd output.ply\n", argv[0]);
         return -1;
    }

    PointCloud::Ptr cloud (new PointCloud ());
    io::loadPCDFile ("ism_test_cat.pcd", *cloud);
    MovingLeastSquares mls; mls.setInputCloud (cloud);
    mls.setSearchRadius (0.01);
    mls.setPolynomialFit (true);
    mls.setPolynomialOrder (2);
    mls.setUpsamplingMethod (MovingLeastSquares::SAMPLE_LOCAL_PLANE);
    mls.setUpsamplingRadius (0.005);
    mls.setUpsamplingStepSize (0.003);
    PointCloud::Ptr cloud_smoothed (new PointCloud ());
    mls.process (*cloud_smoothed);
    NormalEstimationOMP ne;
    ne.setNumberOfThreads (8);
    ne.setInputCloud (cloud_smoothed);
    ne.setRadiusSearch (0.01);
    Eigen::Vector4f centroid;
    compute3DCentroid (*cloud_smoothed, centroid);
    ne.setViewPoint (centroid[0], centroid[1], centroid[2]);
    PointCloud::Ptr cloud_normals (new PointCloud ());
    ne.compute (*cloud_normals);

    for (size_t i = 0; i < cloud_normals->size (); ++i)
    {

        cloud_normals->points[i].normal_x *= -1;
        cloud_normals->points[i].normal_y *= -1; cloud_normals->points[i].normal_z *= -1;
    }

    PointCloud::Ptr cloud_smoothed_normals (new PointCloud ());
    concatenateFields (*cloud_smoothed, *cloud_normals, *cloud_smoothed_normals);
    Poisson poisson;
    poisson.setDepth (9);
    poisson.setInputCloud (cloud_smoothed_normals);
    PolygonMesh mesh;
    poisson.reconstruct (mesh);
    io::saveVTKFile ("sreconstruc.vtk",mesh);
    return 0;
}

I'm using PCL 1.6, VS2010, all x64.

VS2010 doesn't detect any errors in the code and so I compiled it. But when I execute that, it has a problem:

'Unhandled exception at 0x000007fee833546b (pcl_kdtree_debug.dll) in pcl_surface-reconstrucTutorial.exe: 0xC0000005: Access violation reading location 0x0000000000000000.' 

The terminal shows this [pcl::NormalEstimationOMP::compute] input_ is empty!.

The code is executed up to 'mls.process (*cloud_smoothed);' line.

How could I solve it? I'm going crazy to solve it.

Thanks a lot in advance!!

Answer 1

as @Laszlo-Andras Zsurzsa said, I changed parameters, and now it goes on. But now, when it executes and saves file.vtk. I use this setting to get something good