void cloud_visualixer::add_cloud(const PointCloud & cloud){
const double *x, *y, *z;
num_vertices = cloud.pointcount();
num_per_vertex = 6;
num_vertex_points = 3;
x = &cloud.x();
y = &cloud.y();
z = &cloud.z();
vertices = new GLfloat[num_vertices*num_per_vertex];
for (unsigned int i=0; i<num_vertices; i++){
vertices[i*num_per_vertex] = x[i];
vertices[i*num_per_vertex + 1] = y[i];
vertices[i*num_per_vertex + 2] = z[i];
}
num_elements = num_vertices;
num_per_element = 1;
elements = new GLuint[num_elements];
for (unsigned int i=0; i<num_vertices; i++){
elements[i] = i;
}
if (cloud.RGB_present()){
const rgb48 * RGB = &cloud.RGB();
for (unsigned int i=0; i<num_vertices; i){
vertices[i*num_per_vertex + 3] = RGB[i].R/65,535;
vertices[i*num_per_vertex + 4] = RGB[i].G/65,535;
vertices[i*num_per_vertex + 5] = RGB[i].B/65,535;
}
}
else {
//rgb ptcolor;
for (unsigned int i=0; i<num_vertices; i++){
//ptcolor = color_ramp.get_ramp_color((cloud->z[i]-cloud->zmin)/(cloud->zmax - cloud->zmin));
vertices[i*num_per_vertex + 3] = 0.0;
vertices[i*num_per_vertex + 4] = 0.0;
vertices[i*num_per_vertex + 5] = 1.0;
}
}
model_centroid[0] = (cloud.xmax() + cloud.xmin())/2.0;
model_centroid[1] = (cloud.ymax() + cloud.ymin())/2.0;
model_centroid[2] = (cloud.zmax() + cloud.zmin())/2.0;
xmax = cloud.xmax();
ymax = cloud.ymax();
zmax = cloud.zmax();
xmin = cloud.xmin();
ymin = cloud.ymin();
zmin = cloud.zmin();
// default color by Z
colorby = new float[num_vertices];
for (auto i=0; i<num_vertices; i++){
colorby[i] = z[i];
}
colorby_max = zmax;
colorby_min = zmin;
return;
}
