void run(){
listener->waitForNewFrame(*frames);
libfreenect2::Frame *rgb = (*frames)[libfreenect2::Frame::Color];
libfreenect2::Frame *ir = (*frames)[libfreenect2::Frame::Ir];
libfreenect2::Frame *depth = (*frames)[libfreenect2::Frame::Depth];
static Img8u colorImage(Size(rgb->width,rgb->height),3);
if(depth){
Img32f depthImage(Size(depth->width,depth->height),formatMatrix,
std::vector<float*>(1, (float*)depth->data));
gui["hdepth"] = &depthImage;
}else{
throw ICLException("error detected in libfreenect2.so: please ensure to deactivate"
" visualization in ....h by setting debug_on to false");
}
Img32f irImage(Size(ir->width,ir->height),formatMatrix,
std::vector<float*>(1,(float*)ir->data));
interleavedToPlanar(rgb->data, &colorImage);
colorImage.swapChannels(0,2);
//gui["hdepth"] = &depthImage;
gui["hcolor"] = &colorImage;
gui["hir"] = &irImage;
listener->release(*frames);
}
