virtual void depth_cb(const uint16_t * depth, uint32_t w, uint32_t h)
{
cv::Mat dMap = cv::Mat(h,w,CV_16U,const_cast<uint16_t*>(depth));
{
boost::mutex::scoped_lock updateLock(updateModelMutex);
dColor_ = colorizeDepth(dMap, 30.,4000.);
d_ = dMap.clone();
}
this->update();
};
// ------------------------ impl -----------------------------------------
void OpenniSmoothNormalsGpu::visualizeD()
{
if (this->depthFilter)
{
cv::Mat dSmooth = this->depthFilter->getOutput();
this->dColor_ = colorizeDepth(dSmooth,0.3,4.0);
cv::imshow("d",dColor_);
// cv::Mat dNans = dSmooth.clone();
// showNans(dNans);
// cv::imshow("depth Nans",dNans);
}
};
