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octomap averageNodeColor函数说明
2022-07-06 07:31:00 【蓝羽飞鸟】
averageNodeColor是ColorOcTreeNode中的函数,参数是x,y,z,r,g,b
但是官网上没说这函数具体是怎么average color的,于是只好从源码入手
根据官网提示,这个函数在Definition at line 144 of file ColorOcTree.h
.
00144 ColorOcTreeNode* averageNodeColor(const float& x, const float& y,
00145 const float& z, const unsigned char& r,
00146 const unsigned char& g, const unsigned char& b) {
00147 OcTreeKey key;
00148 if (!this->coordToKeyChecked(point3d(x,y,z), key)) return NULL;
00149 return averageNodeColor(key,r,g,b);
00150 }
可以看到调用了averageNodeColor(key, r, g, b), 所以看这个重载函数的代码
00145 ColorOcTreeNode* ColorOcTree::averageNodeColor(const OcTreeKey& key,
00146 const unsigned char& r,
00147 const unsigned char& g,
00148 const unsigned char& b) {
00149 ColorOcTreeNode* n = search (key);
00150 if (n != 0) {
00151 if (n->isColorSet()) {
00152 ColorOcTreeNode::Color prev_color = n->getColor();
00153 n->setColor((prev_color.r + r)/2, (prev_color.g + g)/2, (prev_color.b + b)/2);
00154 }
00155 else {
00156 n->setColor(r, g, b);
00157 }
00158 }
00159 return n;
00160 }
可以看到是每来一个新的颜色(r, g, b), 就把之前的颜色和新的颜色做平均,就相当于这个点上所有颜色求平均。
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