void CurrentFrameCloudView::show (const KinfuTracker& kinfu) { kinfu.getLastFrameCloud (cloud_device_); int c; cloud_device_.download (cloud_ptr_->points, c); cloud_ptr_->width = cloud_device_.cols (); cloud_ptr_->height = cloud_device_.rows (); cloud_ptr_->is_dense = false; cloud_viewer_.removeAllPointClouds (); cloud_viewer_.addPointCloud<PointXYZ>(cloud_ptr_); cloud_viewer_.spinOnce (); }
void KinectVisualization::showCloudXYZ(const KinfuTracker& kinfu) { //cout << cloud_device_xyz.cols() << endl; kinfu.getLastFrameCloud (cloud_device_xyz); int c; cloud_device_xyz.download (cloud_ptr_->points, c); cloud_ptr_->width = cloud_device_xyz.cols (); cloud_ptr_->height = cloud_device_xyz.rows (); cloud_ptr_->is_dense = false; //cout << cloud_ptr_->width << " " << cloud_ptr_->height << endl; //writeCloudFile(2, cloud_ptr_); cloud_viewer_xyz_.removeAllPointClouds (); cloud_viewer_xyz_.addPointCloud<PointXYZ>(cloud_ptr_); }