| 93 | } |
| 94 | |
| 95 | void generateColor() |
| 96 | { |
| 97 | for (auto& p: *cloud) |
| 98 | { |
| 99 | int r = std::max(1, std::min(255, static_cast<int>((double(rand())/RAND_MAX)*255))); |
| 100 | int g = std::max(1, std::min(255, static_cast<int>((double(rand())/RAND_MAX)*255))); |
| 101 | int b = std::max(1, std::min(255, static_cast<int>((double(rand())/RAND_MAX)*255))); |
| 102 | |
| 103 | *reinterpret_cast<int*>(&p.data[3]) = (b << 16) + (g << 8) + r; |
| 104 | } |
| 105 | } |
| 106 | |
| 107 | void estimateNormals() |
| 108 | { |