bool Interface::load_tex(const char *name, int idx)
{
char fn[MAX_PATH];
strcpy(fn, name);
if (!strstr(name, ".png"))
{
strcat(fn, ".png");
}
Stream *str = global.fs->open(fn);
if ((str == NULL) || (str->getFileStreamHandle() == INVALID_HANDLE_VALUE))
{
ERROR_MESSAGE("Interface: Doesn\'t load texture %s\n", fn);
return false;
}
uint32_t sz = str->getSize();
char buf[sz];
str->read(buf, sz);
delete str;
bool ret = this->load_tex(buf, sz, idx);
#ifdef SD_DEBUG
if (ret)
printf("Game: Texture %s loaded\n", fn);
else
{
red_color();
printf("Game: Doesn\'t load texture %s\n", fn);
normal_color();
}
#endif
return ret;
}
void printToPCLViewer() {
pclViewer->removeAllPointClouds();
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
pclViewer->addPointCloud<pcl::PointXYZRGB>(cloud,rgb,"source cloud");
pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "source cloud");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> red_color(cloud_p, 255, 0, 0);
pclViewer->addPointCloud<pcl::PointXYZRGB>(cloud_p,red_color,"segmented cloud");
pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "segmented cloud");
}
void PlanSegmentor::printToPCLViewer()
{
m_pclViewer->removeAllPointClouds();
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(m_cloud);
m_pclViewer->addPointCloud<pcl::PointXYZRGB>(m_cloud,rgb,"source cloud");
m_pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "source cloud");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> red_color(m_segmented_cloud, 255, 0, 0);
m_pclViewer->addPointCloud<pcl::PointXYZRGB>(m_segmented_cloud,red_color,"segmented cloud");
m_pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "segmented cloud");
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> blue_color(m_objects_cloud, 0, 0, 255);
m_pclViewer->addPointCloud<pcl::PointXYZRGB>(m_objects_cloud,blue_color,"objects cloud");
m_pclViewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "objects cloud");
}
void compareTwoNormals(typename pcl::PointCloud<PointT>::ConstPtr cloud1,
typename pcl::PointCloud<PointT>::ConstPtr cloud2,
const std::string &name1 = "cloud1",
const std::string &name2 = "cloud2")
{
std::cout << "compare " << name1 << " and " << name2 << std::endl;
// visualizer
pcl::visualization::PCLVisualizer viewer ("3D Viewer");
viewer.setBackgroundColor (0, 0, 0);
// comparison
int v1(0);
viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1);
viewer.setBackgroundColor (0, 0, 0, v1);
viewer.addText(name1, 10, 10, "v1 text", v1);
pcl::visualization::PointCloudColorHandlerCustom<PointT> green_color(cloud1, 0, 255, 0);
viewer.addPointCloud<PointT> (cloud1, green_color, "cloud1", v1);
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud1"); // points
viewer.addPointCloudNormals<PointT> (cloud1, 1, 0.05, "normals1", v1); // normals
int v2(0);
viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2);
viewer.setBackgroundColor (0, 0, 0, v2);
viewer.addText(name2, 10, 10, "v2 text", v2);
pcl::visualization::PointCloudColorHandlerCustom<PointT> red_color(cloud2, 255, 0, 0);
viewer.addPointCloud<PointT> (cloud2, red_color, "cloud2", v2);
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud2"); // points
viewer.addPointCloudNormals<PointT> (cloud2, 1, 0.05, "normals2", v2); // normals
viewer.addCoordinateSystem (5.0);
viewer.initCameraParameters ();
// main loop
while (!viewer.wasStopped ())
{
viewer.spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
