////////////////////////////////////////////////////////////////////
| 525 | |
| 526 | ///////////////////////////////////////////////////////////////////////// |
| 527 | void |
| 528 | compute() |
| 529 | { |
| 530 | // Visualize the data |
| 531 | while (!cloud_viewer_->wasStopped()) { |
| 532 | /*// Add the plane that we're tracking to the cloud visualizer |
| 533 | PointCloud<PointT>::Ptr plane (new Cloud); |
| 534 | if (plane_) |
| 535 | *plane = *plane_; |
| 536 | visualization::PointCloudColorHandlerCustom<PointT> blue (plane, 0, 255, 0); |
| 537 | if (!cloud_viewer_->updatePointCloud (plane, blue, "plane")) |
| 538 | cloud_viewer_->addPointCloud (plane, "plane"); |
| 539 | */ |
| 540 | cloud_viewer_->spinOnce(); |
| 541 | if (image_viewer_) { |
| 542 | image_viewer_->spinOnce(); |
| 543 | if (image_viewer_->wasStopped()) |
| 544 | break; |
| 545 | } |
| 546 | std::this_thread::sleep_for(100us); |
| 547 | } |
| 548 | } |
| 549 | |
| 550 | ///////////////////////////////////////////////////////////////////////// |
| 551 | void |