qfile_openmesh_vtk.cpp

        const float resize_ratio = 2.0;
        actorDroneMesh = vtkSmartPointer<vtkLODActor>::New ();
        auto sharedData = SharedData::getSharedData(this->window());
        OpenMesh::PolyMesh_ArrayKernelT< > mesh_out;
        OpenMesh::IO::Options OptionRead(OpenMesh::IO::Options::Binary);
        QFile file_model(":/models/drone.stl");
        file_model.open(QIODevice::ReadOnly);
        QStdIStream drone_model_data(&file_model);
        OpenMesh::IO::read_mesh(mesh_out, drone_model_data, "stl", OptionRead);
        vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();
        vtkIdType nr_points = mesh_out.n_vertices();
        points->SetNumberOfPoints (nr_points);
        float *data = static_cast<vtkFloatArray*> (points->GetData ())->GetPointer (0);
        vtkIdType ptr = 0;
        BOOST_FOREACH(auto v, mesh_out.vertices()) {
            auto point = mesh_out.point(v);
            //std::copy (&(point[0]), &(point[0]) + 3, &data[ptr]);
            data[ptr] = point[0] * resize_ratio;
            data[ptr + 1] = point[1] * resize_ratio;
            data[ptr + 2] = point[2] * resize_ratio;
            ptr += 3;
        }
        vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New ();
        vtkIdType *cell = cell_array->WritePointer (mesh_out.n_faces(), mesh_out.n_faces() * 4);
        int idx = 0;
        BOOST_FOREACH(auto f, mesh_out.faces()) {
            *cell++ = 3;
            for (auto fv_it = mesh_out.fv_iter(f); fv_it.is_valid(); ++fv_it, ++idx) {
                *cell++ = (*fv_it).idx();
            }
            ++idx;
        }
        vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New ();
        cell_array->GetData ()->SetNumberOfValues (idx);
        cell_array->Squeeze ();
        polydata->SetPolys (cell_array);
        polydata->SetPoints (points);
        vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
        mapper->SetInputData (polydata);
        actorDroneMesh->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
        actorDroneMesh->GetProperty ()->SetInterpolationToFlat ();
        actorDroneMesh->SetMapper (mapper);
        actorDroneMesh->GetProperty ()->SetRepresentationToSurface ();
        // Backface culling renders the visualization slower, but guarantees that we see all triangles
        actorDroneMesh->GetProperty ()->BackfaceCullingOff ();
        actorDroneMesh->GetProperty ()->SetInterpolationToFlat ();
        actorDroneMesh->GetProperty ()->EdgeVisibilityOff ();
        actorDroneMesh->GetProperty ()->ShadingOff ();
        //renderer->AddActor(actorDroneMesh);
        file_model.close();