void clearImage()
{
if(imageView){
Image image;
image.clear();
image.setSize(1,1,3);
*image.pixels() = 0;
imageView->setImage(image);
}
if(pointSetFromRangeCamera){
pointSetFromRangeCamera->getOrCreateVertices()->clear();
pointSetFromRangeCamera->getOrCreateColors()->clear();
}
if(pointSetFromRangeSensor){
pointSetFromRangeSensor->getOrCreateVertices()->clear();
pointSetFromRangeSensor->getOrCreateColors()->clear();
}
}
void updatePointCloudFromRangeSensor()
{
if(!pointSetFromRangeSensor)
return;
SgVertexArray& disPoints = *pointSetFromRangeSensor->getOrCreateVertices();
boost::mutex::scoped_lock lock(mtx);
disPoints.resize(rangeSensorPoints.size());
copy(rangeSensorPoints.begin(), rangeSensorPoints.end(), disPoints.begin());
lock.unlock();
pointSetFromRangeSensor->notifyUpdate();
}
void updatePointCloudFromRangeCamera()
{
if(!pointSetFromRangeCamera)
return;
SgVertexArray& disPoints = *pointSetFromRangeCamera->getOrCreateVertices();
SgColorArray& disColors = *pointSetFromRangeCamera->getOrCreateColors();
boost::mutex::scoped_lock lock(mtx);
disPoints.resize(rangeCameraPoints.size());
disColors.resize(rangeCameraColors.size());
copy(rangeCameraPoints.begin(), rangeCameraPoints.end(), disPoints.begin());
copy(rangeCameraColors.begin(), rangeCameraColors.end(), disColors.begin());
lock.unlock();
pointSetFromRangeCamera->notifyUpdate();
}