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;
}
}
Solution updateGreedyNodes(GreedyState* state, Node** nodeArray, Color* colorTest, set<Node*, greaterNode> twoOptionNodes, set<Node*, greaterNode> threeOptionNodes)
{
for (unsigned int cntr = 0; cntr < state->nodesUpdated.size(); cntr++)
{
int updated = state->nodesUpdated[cntr];
Color updatedColor = colorTest[updated];
// compute coloring implications and record any change we made for the coloring attempt
set<int>::iterator iter = nodeArray[updated]->getVertices();
while (iter != nodeArray[updated]->getVerticesEnd())
{
int effected = *iter;
iter++;
if (isColored(colorTest[effected]))
{
if (colorTest[effected] == updatedColor)
{
// We have a collision, time to unwind and try again.
DEBUG("Got a color(%d) collision between nodes %s and %s.", updatedColor,
nodeArray[updated]->getName().c_str(), nodeArray[effected]->getName().c_str());
return NOT_COLORABLE;
}
continue;
}
Color before = colorTest[effected];
Color after = (Color)(before | negativeColor(updatedColor));
if (after == IMPOSSIBLE)
{
// TODO: Add clean up code.
DEBUG("Got an impossible on node %s.", nodeArray[effected]->getName().c_str());
return NOT_COLORABLE;
}
after = impliedColor(after);
setNodeInOptionSet(twoOptionNodes, threeOptionNodes, nodeArray[effected], before, after);
colorTest[effected] = after;
if (isColored(after))
{
// We just pushed a new node to colored so we need handle all of its subsidiary nodes.
state->nodesUpdated.push_back(effected);
}
state->revertMap[effected] = before;
}
}
return UNKNOWN_SOLUTION;
}
bool VoxelTreeElement::requiresSplit() const {
return isLeaf() && isColored();
}
