Method appendToPointCloud

tracking/src/tracker_object.cpp:247–264

}

size_t
TrackerObject::appendToPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr& pointcloud, size_t starting_index, size_t max_size)
{
  for(size_t i = 0; i < tracks_.size() && pointcloud->size() < max_size; i++)
  {
    pcl::PointXYZRGB point;
    pointcloud->push_back(point);
  }

  for(std::list<open_ptrack::tracking::TrackObject*>::iterator it = tracks_.begin(); it != tracks_.end(); it++)
  {
    open_ptrack::tracking::TrackObject* t = *it;
    if(t->getPointXYZRGB(pointcloud->points[starting_index]))
      starting_index = (starting_index + 1) % max_size;

  }
  return starting_index;
}

/************************ protected methods ************************/