//==============================================================================
VoxelGridShape::VoxelGridShape(fcl_shared_ptr<octomap::OcTree> octree) : Shape()
{
if (!octree)
{
dtwarn << "[VoxelGridShape] Attempting to assign null octree. Creating an "
<< "empty octree with resolution 0.01 instead.\n";
setOctree(fcl_make_shared<octomap::OcTree>(0.01));
return;
}
setOctree(std::move(octree));
}
void OctreeShape::loadOctree(const std::string& filePath)
{
auto rootNode = std::make_shared<NodeType>();
rootNode->load(filePath);
SURGSIM_ASSERT(isValid(rootNode))
<< "Loading failed " << filePath << " contains an invalid octree.";
setOctree(rootNode);
}
void ccOctreeSpinBox::setCloud(ccGenericPointCloud* cloud)
{
if (!cloud)
return;
if (cloud->getOctree())
{
setOctree(cloud->getOctree());
}
else
{
ccBBox box = cloud->getOwnBB(false);
CCLib::CCMiscTools::MakeMinAndMaxCubical(box.minCorner(),box.maxCorner());
m_octreeBoxWidth = box.getMaxBoxDim();
onValueChange(value());
}
}
//==============================================================================
VoxelGridShape::VoxelGridShape(double resolution) : Shape()
{
setOctree(fcl_make_shared<octomap::OcTree>(resolution));
}
