bool Interface::load_tex(const char *name, int idx) { char fn[MAX_PATH]; strcpy(fn, name); if (!strstr(name, ".png")) { strcat(fn, ".png"); } Stream *str = global.fs->open(fn); if ((str == NULL) || (str->getFileStreamHandle() == INVALID_HANDLE_VALUE)) { ERROR_MESSAGE("Interface: Doesn\'t load texture %s\n", fn); return false; } uint32_t sz = str->getSize(); char buf[sz]; str->read(buf, sz); delete str; bool ret = this->load_tex(buf, sz, idx); #ifdef SD_DEBUG if (ret) printf("Game: Texture %s loaded\n", fn); else { red_color(); printf("Game: Doesn\'t load texture %s\n", fn); normal_color(); } #endif return ret; }
void printToPCLViewer() { pclViewer->removeAllPointClouds(); pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud); pclViewer->addPointCloud<pcl::PointXYZRGB>(cloud,rgb,"source cloud"); pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "source cloud"); pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> red_color(cloud_p, 255, 0, 0); pclViewer->addPointCloud<pcl::PointXYZRGB>(cloud_p,red_color,"segmented cloud"); pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "segmented cloud"); }
void PlanSegmentor::printToPCLViewer() { m_pclViewer->removeAllPointClouds(); pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(m_cloud); m_pclViewer->addPointCloud<pcl::PointXYZRGB>(m_cloud,rgb,"source cloud"); m_pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "source cloud"); pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> red_color(m_segmented_cloud, 255, 0, 0); m_pclViewer->addPointCloud<pcl::PointXYZRGB>(m_segmented_cloud,red_color,"segmented cloud"); m_pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "segmented cloud"); pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> blue_color(m_objects_cloud, 0, 0, 255); m_pclViewer->addPointCloud<pcl::PointXYZRGB>(m_objects_cloud,blue_color,"objects cloud"); m_pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "objects cloud"); }
void compareTwoNormals(typename pcl::PointCloud<PointT>::ConstPtr cloud1, typename pcl::PointCloud<PointT>::ConstPtr cloud2, const std::string &name1 = "cloud1", const std::string &name2 = "cloud2") { std::cout << "compare " << name1 << " and " << name2 << std::endl; // visualizer pcl::visualization::PCLVisualizer viewer ("3D Viewer"); viewer.setBackgroundColor (0, 0, 0); // comparison int v1(0); viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1); viewer.setBackgroundColor (0, 0, 0, v1); viewer.addText(name1, 10, 10, "v1 text", v1); pcl::visualization::PointCloudColorHandlerCustom<PointT> green_color(cloud1, 0, 255, 0); viewer.addPointCloud<PointT> (cloud1, green_color, "cloud1", v1); viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud1"); // points viewer.addPointCloudNormals<PointT> (cloud1, 1, 0.05, "normals1", v1); // normals int v2(0); viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2); viewer.setBackgroundColor (0, 0, 0, v2); viewer.addText(name2, 10, 10, "v2 text", v2); pcl::visualization::PointCloudColorHandlerCustom<PointT> red_color(cloud2, 255, 0, 0); viewer.addPointCloud<PointT> (cloud2, red_color, "cloud2", v2); viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud2"); // points viewer.addPointCloudNormals<PointT> (cloud2, 1, 0.05, "normals2", v2); // normals viewer.addCoordinateSystem (5.0); viewer.initCameraParameters (); // main loop while (!viewer.wasStopped ()) { viewer.spinOnce (100); boost::this_thread::sleep (boost::posix_time::microseconds (100000)); } }