Ejemplo n.º 1
0
  void
  showScene (KinfuTracker& kinfu, const PtrStepSz<const pcl::gpu::kinfuLS::PixelRGB>& rgb24, bool registration, Eigen::Affine3f* pose_ptr = 0)
  {
    if (pose_ptr)
    {
      raycaster_ptr_->run ( kinfu.volume (), *pose_ptr, kinfu.getCyclicalBufferStructure () ); //says in cmake it does not know it
      raycaster_ptr_->generateSceneView(view_device_);
    }
    else
    {
      kinfu.getImage (view_device_);
    }

    if (paint_image_ && registration && !pose_ptr)
    {
      colors_device_.upload (rgb24.data, rgb24.step, rgb24.rows, rgb24.cols);
      paint3DView (colors_device_, view_device_);
    }

    int cols;
    view_device_.download (view_host_, cols);
    viewerScene_.showRGBImage (reinterpret_cast<unsigned char*> (&view_host_[0]), view_device_.cols (), view_device_.rows ());    

          //viewerColor_.showRGBImage ((unsigned char*)&rgb24.data, rgb24.cols, rgb24.rows);
#ifdef HAVE_OPENCV
    if (accumulate_views_)
    {
      views_.push_back (cv::Mat ());
      cv::cvtColor (cv::Mat (480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back (), CV_RGB2GRAY);
      //cv::copy(cv::Mat(480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back());
    }
#endif
  }
Ejemplo n.º 2
0
  void
  showGeneratedDepth (KinfuTracker& kinfu, const Eigen::Affine3f& pose)
  {            
    raycaster_ptr_->run(kinfu.volume(), pose, kinfu.getCyclicalBufferStructure ());
    raycaster_ptr_->generateDepthImage(generated_depth_);    

    int c;
    vector<unsigned short> data;
    generated_depth_.download(data, c);

    viewerDepth_.showShortImage (&data[0], generated_depth_.cols(), generated_depth_.rows(), 0, 5000, true);
  }
Ejemplo n.º 3
0
  void
  publishGeneratedDepth (KinfuTracker& kinfu)
  {
	const Eigen::Affine3f& pose= kinfu.getCameraPose();
    raycaster_ptr_->run(kinfu.volume(), pose, kinfu.getCyclicalBufferStructure());
    raycaster_ptr_->generateDepthImage(generated_depth_);

    int c;
    vector<unsigned short> data;
    generated_depth_.download(data, c);

    sensor_msgs::ImagePtr msg(new sensor_msgs::Image);
    sensor_msgs::fillImage(*msg, "bgr8", view_device_.rows(), view_device_.cols(), view_device_.cols() * 3, &view_host_[0]);
    pubgen.publish(msg);
  }