template <typename T> void
pcl::visualization::ImageViewer::addRGBImage (const pcl::PointCloud<T> &cloud,
const std::string &layer_id,
double opacity)
{
if (data_size_ < cloud.width * cloud.height)
{
data_size_ = cloud.width * cloud.height * 3;
data_.reset (new unsigned char[data_size_]);
}
convertRGBCloudToUChar (cloud, data_);
return (addRGBImage (data_.get (), cloud.width, cloud.height, layer_id, opacity));
}
template <typename T> void
pcl::visualization::ImageViewer::addRGBImage (const pcl::PointCloud<T> &cloud,
const std::string &layer_id,
double opacity)
{
if (data_size_ < cloud.width * cloud.height)
{
data_size_ = cloud.width * cloud.height * 3;
data_.reset (new unsigned char[data_size_]);
}
for (size_t i = 0; i < cloud.points.size (); ++i)
{
memcpy (&data_[i * 3], reinterpret_cast<const unsigned char*> (&cloud.points[i].rgba), sizeof (unsigned char) * 3);
/// Convert from BGR to RGB
unsigned char aux = data_[i*3];
data_[i*3] = data_[i*3+2];
data_[i*3+2] = aux;
for (int j = 0; j < 3; ++j)
if (pcl_isnan (data_[i * 3 + j]))
data_[i * 3 + j] = 0;
}
return (addRGBImage (data_.get (), cloud.width, cloud.height, layer_id, opacity));
}
