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Added GainCompensator class. GUI/3D Rendering: added texturing option.

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This commit is contained in:
matlabbe
2016-09-07 12:15:44 -04:00
parent 3b25fef852
commit ff4300d525
18 changed files with 1458 additions and 541 deletions
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19
guilib/src/CloudViewer.cpp
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@@ -642,22 +642,29 @@ bool CloudViewer::addCloudTextureMesh(
const pcl::TextureMesh::Ptr & textureMesh,
const Transform & pose)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(_addedClouds.contains(id))
{
this->removeCloud(id);
}
UDEBUG("Adding %s", id.c_str());
if(_visualizer->addTextureMesh(*textureMesh, id))
if(this->addTextureMesh(*textureMesh, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->LightingOff();
if(_backfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->BackfaceCullingOn();
}
if(_frontfaceCulling)
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->FrontfaceCullingOn();
}
_visualizer->getCloudActorMap()->find(id)->second.actor->GetTexture()->SetInterpolate(1);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetTexture()->SetBlendingMode(vtkTexture::VTK_TEXTURE_BLENDING_MODE_REPLACE);
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
}
#endif
// not implemented on lower version of PCL
return false;
}
@@ -895,7 +902,7 @@ bool CloudViewer::addTextureMesh (
int viewport)
{
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
return addTextureMesh(mesh, id, viewport);
return _visualizer->addTextureMesh(mesh, id, viewport);
#else
// Copied from PCL 1.8