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fixed #648 (build error without OctoMap dependency)

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matlabbe
2020-11-30 12:33:08 -05:00
parent 96c1c81e22
commit ee44adeb1f
5 changed files with 56 additions and 55 deletions
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52
corelib/src/OctoMap.cpp
View File

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_mapping.h>
#include <rtabmap/core/util2d.h>
#include <pcl/common/transforms.h>
namespace rtabmap {
@@ -886,55 +887,6 @@ void OctoMap::updateMinMax(const octomap::point3d & point)
}
}
void OctoMap::HSVtoRGB( float *r, float *g, float *b, float h, float s, float v )
{
int i;
float f, p, q, t;
if( s == 0 ) {
// achromatic (grey)
*r = *g = *b = v;
return;
}
h /= 60; // sector 0 to 5
i = floor( h );
f = h - i; // factorial part of h
p = v * ( 1 - s );
q = v * ( 1 - s * f );
t = v * ( 1 - s * ( 1 - f ) );
switch( i ) {
case 0:
*r = v;
*g = t;
*b = p;
break;
case 1:
*r = q;
*g = v;
*b = p;
break;
case 2:
*r = p;
*g = v;
*b = t;
break;
case 3:
*r = p;
*g = q;
*b = v;
break;
case 4:
*r = t;
*g = p;
*b = v;
break;
default: // case 5:
*r = v;
*g = p;
*b = q;
break;
}
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr OctoMap::createCloud(
unsigned int treeDepth,
std::vector<int> * obstacleIndices,
@@ -1003,7 +955,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr OctoMap::createCloud(
// Gradiant color on z axis
float H = (maxZ - pt.z())*299.0f/(maxZ-minZ);
float r,g,b;
HSVtoRGB(&r, &g, &b, H, 1, 1);
util2d::HSVtoRGB(&r, &g, &b, H, 1, 1);
(*cloud)[oi].r = r*255.0f;
(*cloud)[oi].g = g*255.0f;
(*cloud)[oi].b = b*255.0f;

49
corelib/src/util2d.cpp
View File

@@ -2044,6 +2044,55 @@ cv::Mat exposureFusion(const std::vector<cv::Mat> & images)
return fusion;
}
void HSVtoRGB( float *r, float *g, float *b, float h, float s, float v )
{
int i;
float f, p, q, t;
if( s == 0 ) {
// achromatic (grey)
*r = *g = *b = v;
return;
}
h /= 60; // sector 0 to 5
i = floor( h );
f = h - i; // factorial part of h
p = v * ( 1 - s );
q = v * ( 1 - s * f );
t = v * ( 1 - s * ( 1 - f ) );
switch( i ) {
case 0:
*r = v;
*g = t;
*b = p;
break;
case 1:
*r = q;
*g = v;
*b = p;
break;
case 2:
*r = p;
*g = v;
*b = t;
break;
case 3:
*r = p;
*g = q;
*b = v;
break;
case 4:
*r = t;
*g = p;
*b = v;
break;
default: // case 5:
*r = v;
*g = p;
*b = q;
break;
}
}
}
}