Example #1
0
void CVirtualWorld::GetWorld(mrpt::opengl::CSetOfObjectsPtr &world)
{
	using namespace mrpt::gui;
	world->clear();
	for (size_t i=0;i<list_objects.size();i++)
	{

		double sizex,longitud;

		std::deque<std::string> tok;
		mrpt::system::tokenize(list_objects[i].size,"[ ",tok);

		//printf("%f,%f\n",atof(tok[0].c_str()),atof(tok[1].c_str()));
		sizex=atof(tok[1].c_str());
		longitud=atof(tok[0].c_str());
		CTexturedPlanePtr plane=CTexturedPlane::Create(0,sizex,0,longitud);


		plane->setPose(*list_objects[i].pose.pointer());

		CImagePtr image=CImage::Create();
		if (image->loadFromFile( list_objects[i].texture))
			plane->assignImage(*image.pointer());
		else
			printf("Texture file is missing or there was an error while loading\n");
		world->insert(plane);


	}



}
/*---------------------------------------------------------------
				getAs3DObject
  ---------------------------------------------------------------*/
void  COccupancyGridMap2D::getAs3DObject(mrpt::opengl::CSetOfObjectsPtr	&outSetOfObj ) const
{
	if (!genericMapParams.enableSaveAs3DObject) return;

	MRPT_START

	opengl::CTexturedPlanePtr	outObj = opengl::CTexturedPlane::Create();

	outObj->setPlaneCorners(x_min,x_max,y_min,y_max);

	outObj->setLocation(0,0, insertionOptions.mapAltitude );

	// Create the color & transparecy (alpha) images:
	CImage			imgColor(size_x,size_y,1);
	CImage			imgTrans(size_x,size_y,1);


	const cellType		*srcPtr = &map[0];
	
	for (unsigned int y=0;y<size_y;y++)
	{
		unsigned char *destPtr_color = imgColor(0,y);
		unsigned char *destPtr_trans = imgTrans(0,y);
		for (unsigned int x=0;x<size_x;x++)
		{
			uint8_t  cell255 = l2p_255(*srcPtr++);
			*destPtr_color++ = cell255;

			int8_t   auxC = (int8_t)((signed short)cell255)-127;
			*destPtr_trans++ = auxC>0 ? (auxC << 1) : ((-auxC) << 1);
		}
	}

	outObj->assignImage_fast( imgColor,imgTrans );
	outSetOfObj->insert( outObj );

	MRPT_END
}