void processNodeChildren(TiXmlNode* node, Model::geometryData* dData,
Model::physicsData* pData)
{
TiXmlNode* child = NULL;
for (child = node->FirstChild(); child; child = child->NextSibling())
{
if(child->Type() == 1)
{
std::string typeName = "";
typeName = child->Parent()->Value();
if (typeName == "library_geometries")
{
extractVertices(child, dData);
}
else if (typeName == "library_physics_materials")
{
extractPhysicsMaterials(child);
}
else if (typeName == "library_physics_models")
{
extractPhysics(child, pData);
}
}
processNodeChildren(child, dData, pData);
}
}
void KinFuPostProcess::process(pcl::gpu::KinfuTracker* kinfu){
kinfu_localReference = kinfu;
if(!init){
height = kinfu_localReference->rows();
width = kinfu_localReference->cols();
init = true;
}
extractVertices();
extractNormals();
extractCameraPose();
}
