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
}