void
CloudEditorWidget::loadFilePCD(const std::string &filename)
{
PclCloudPtr pcl_cloud_ptr;
Cloud3D tmp;
if (pcl::io::loadPCDFile<Point3D>(filename, tmp) == -1)
throw;
pcl_cloud_ptr = PclCloudPtr(new Cloud3D(tmp));
std::vector<int> index;
pcl::removeNaNFromPointCloud(*pcl_cloud_ptr, *pcl_cloud_ptr, index);
Statistics::clear();
cloud_ptr_ = CloudPtr(new Cloud(*pcl_cloud_ptr, true));
selection_ptr_ = SelectionPtr(new Selection(cloud_ptr_, true));
copy_buffer_ptr_ = CopyBufferPtr(new CopyBuffer(true));
cloud_ptr_->setPointSize(point_size_);
cloud_ptr_->setHighlightPointSize(selected_point_size_);
tool_ptr_ =
boost::shared_ptr<CloudTransformTool>(new CloudTransformTool(cloud_ptr_));
if (isColored(filename))
{
swapRBValues();
color_scheme_ = COLOR_BY_RGB;
is_colored_ = true;
}
else
{
color_scheme_ = COLOR_BY_Z;
is_colored_ = false;
}
}
TransformCommand::TransformCommand(ConstSelectionPtr selection_ptr,
CloudPtr cloud_ptr,
const float *matrix,
float translate_x,
float translate_y,
float translate_z)
: selection_ptr_(selection_ptr), cloud_ptr_(cloud_ptr),
translate_x_(translate_x), translate_y_(translate_y),
translate_z_(translate_z)
{
internal_selection_ptr_ = SelectionPtr(new Selection(*selection_ptr));
std::copy(matrix, matrix+MATRIX_SIZE, transform_matrix_);
const float *cloud_matrix = cloud_ptr_->getMatrix();
std::copy(cloud_matrix, cloud_matrix+MATRIX_SIZE, cloud_matrix_);
invertMatrix(cloud_matrix, cloud_matrix_inv_);
cloud_ptr_->getCenter(cloud_center_[X], cloud_center_[Y], cloud_center_[Z]);
}
typedef std::deque<int> AidList;
valarray<AidList *> *m_pMap;
int m_nMinAtomMap;
bool m_bUseBruteForce;
AidList m_allList;
public:
AtomPosMap() : m_dSpacing(10.0), m_pMap(NULL), m_nMinAtomMap(100), m_bUseBruteForce(false) {}
~AtomPosMap();
void setTarget(MolCoordPtr pMol) { m_pMol = pMol; }
void setSpacing(double d) { m_dSpacing = d; }
void generate(SelectionPtr pSel = SelectionPtr());
int searchNearestAtom(const Vector4D &pos);
void dumpMaxSize();
void setMinAtomMap(int n) { m_nMinAtomMap = n; }
int getMinAtomMap() const { return m_nMinAtomMap; }
private:
bool checkDist(int ix, int iy, int iz, const Vector4D &pos,
int &rimin, double &rdmin);
void getNearGrid(const Vector4D &pos,
int &ix, int &iy, int &iz);
