void ConvexConnectedVoxels::cloud_cb(
const sensor_msgs::PointCloud2::ConstPtr &cloud_msg)
{
// JSK_ROS_INFO("PROCESSING CLOUD CALLBACK");
// boost::mutex::scoped_lock lock(this->mutex_);
// vital_checker_->poke();
pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>);
pcl::fromROSMsg(*cloud_msg, *cloud);
std::vector<pcl::PointCloud<PointT>::Ptr> cloud_clusters;
std::vector<pcl::PointCloud<pcl::Normal>::Ptr> normal_clusters;
pcl::PointCloud<pcl::PointXYZ>::Ptr centroids(
new pcl::PointCloud<pcl::PointXYZ>);
this->segmentCloud(
cloud, this->indices_, cloud_clusters, normal_clusters, centroids);
std::vector<std::vector<int> > neigbour_idx;
this->nearestNeigborSearch(centroids, neigbour_idx, 4);
boost::shared_ptr<jsk_pcl_ros::RegionAdjacencyGraph> rag(
new jsk_pcl_ros::RegionAdjacencyGraph);
rag->generateRAG(
cloud_clusters,
normal_clusters,
centroids,
neigbour_idx,
rag->RAG_EDGE_WEIGHT_CONVEX_CRITERIA);
rag->splitMergeRAG(0.0);
std::vector<int> labelMD;
rag->getCloudClusterLabels(labelMD);
std::map<int, pcl::PointIndices> _indices;
this->getConvexLabelCloudIndices(
cloud_clusters, cloud, labelMD, _indices);
std::vector<pcl::PointIndices> all_indices;
for (std::map<int, pcl::PointIndices>::iterator it = _indices.begin();
it != _indices.end(); it++) {
all_indices.push_back((*it).second);
}
// JSK_ROS_INFO("Size: %ld", _indices.size());
jsk_recognition_msgs::ClusterPointIndices ros_indices;
ros_indices.cluster_indices = pcl_conversions::convertToROSPointIndices(
all_indices, cloud_msg->header);
ros_indices.header = cloud_msg->header;
pub_indices_.publish(ros_indices);
}
void iuse::scissors(game *g, player *p, item *it, bool t)
{
char ch = g->inv("Chop up what?");
item* cut = &(p->i_at(ch));
if (cut->type->id == 0) {
g->add_msg("You do not have that item!");
return;
}
if (cut->type->id == itm_rag) {
g->add_msg("There's no point in cutting a rag.");
return;
}
if (cut->type->id == itm_string_36) {
p->moves -= 150;
g->add_msg("You cut the string into 6 smaller pieces.");
item string(g->itypes[itm_string_6], g->turn, g->nextinv);
p->i_rem(ch);
bool drop = false;
for (int i = 0; i < 6; i++) {
int iter = 0;
while (p->has_item(string.invlet)) {
string.invlet = g->nextinv;
g->advance_nextinv();
iter++;
}
if (!drop && (iter == 52 || p->volume_carried() >= p->volume_capacity()))
drop = true;
if (drop)
g->m.add_item(p->posx, p->posy, string);
else
p->i_add(string);
}
}
if (!cut->made_of(COTTON)) {
g->add_msg("You can only slice items made of cotton.");
return;
}
p->moves -= 25 * cut->volume();
int count = cut->volume();
if (p->sklevel[sk_tailor] == 0)
count = rng(0, count);
else if (p->sklevel[sk_tailor] == 1 && count >= 2)
count -= rng(0, 2);
if (dice(3, 3) > p->dex_cur)
count -= rng(1, 3);
if (count <= 0) {
g->add_msg("You clumsily cut the %s into useless ribbons.",
cut->tname().c_str());
p->i_rem(ch);
return;
}
g->add_msg("You slice the %s into %d rag%s.", cut->tname().c_str(), count,
(count == 1 ? "" : "s"));
item rag(g->itypes[itm_rag], g->turn, g->nextinv);
p->i_rem(ch);
bool drop = false;
for (int i = 0; i < count; i++) {
int iter = 0;
while (p->has_item(rag.invlet) && iter < 52) {
rag.invlet = g->nextinv;
g->advance_nextinv();
iter++;
}
if (!drop && (iter == 52 || p->volume_carried() >= p->volume_capacity()))
drop = true;
if (drop)
g->m.add_item(p->posx, p->posy, rag);
else
p->i_add(rag);
}
}
