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_);
}