本文整理汇总了C++中KFusion::setDepth方法的典型用法代码示例。如果您正苦于以下问题：C++ KFusion::setDepth方法的具体用法？C++ KFusion::setDepth怎么用？C++ KFusion::setDepth使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类KFusion的用法示例。
在下文中一共展示了KFusion::setDepth方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: display
void display(void) {
static bool integrate = true;
const uint2 imageSize = kfusion.configuration.inputSize;
const double start = Stats.start();
renderInput(vertex.getDeviceImage(), normal.getDeviceImage(), depth.getDeviceImage(), reference, toMatrix4( trans * rot * preTrans ) * getInverseCameraMatrix(kfusion.configuration.camera), kfusion.configuration.nearPlane, kfusion.configuration.farPlane, kfusion.configuration.stepSize(), 0.01 );
cudaDeviceSynchronize();
Stats.sample("ground raycast");
Stats.sample("ground copy");
glRasterPos2i(0,0);
glDrawPixels(vertex);
glRasterPos2i(imageSize.x, 0);
glDrawPixels(normal);
glRasterPos2i(imageSize.x * 2, 0);
glDrawPixels(depth);
Stats.sample("ground draw");
kfusion.setDepth( depth.getDeviceImage() );
cudaDeviceSynchronize();
const double track_start = Stats.sample("process depth");
if(counter > 1){
integrate = kfusion.Track();
cudaDeviceSynchronize();
Stats.sample("track");
}
renderTrackResult(rgb.getDeviceImage(), kfusion.reduction);
cudaDeviceSynchronize();
Stats.sample("track render");
Stats.sample("track copy");
if(integrate){
kfusion.Integrate();
cudaDeviceSynchronize();
Stats.sample("integration");
kfusion.Raycast();
cudaDeviceSynchronize();
Stats.sample("raycast");
vertex = kfusion.vertex;
normal = kfusion.normal;
Stats.sample("raycast get");
}
glRasterPos2i(0,imageSize.y * 1);
glDrawPixels(vertex);
glRasterPos2i(imageSize.x, imageSize.y * 1);
glDrawPixels(normal);
glRasterPos2i(2 * imageSize.x, imageSize.y * 1);
glDrawPixels(rgb);
Stats.sample("track draw");
Stats.sample("total track", Stats.get_time() - track_start, PerfStats::TIME);
renderInput(vertex.getDeviceImage(), normal.getDeviceImage(), depth.getDeviceImage(), kfusion.integration, kfusion.pose * getInverseCameraMatrix(kfusion.configuration.camera), kfusion.configuration.nearPlane, kfusion.configuration.farPlane, kfusion.configuration.stepSize(), 0.7 * kfusion.configuration.mu );
cudaDeviceSynchronize();
Stats.sample("view raycast");
Stats.sample("view copy");
glRasterPos2i(0,imageSize.y * 2);
glDrawPixels(vertex);
glRasterPos2i(imageSize.x, imageSize.y * 2);
glDrawPixels(normal);
glRasterPos2i(imageSize.x * 2, imageSize.y * 2);
glDrawPixels(depth);
Stats.sample("view draw");
Stats.sample("events");
Stats.sample("total all", Stats.get_time() - start, PerfStats::TIME);
if(counter % 30 == 0){
Stats.print();
Stats.reset();
cout << endl;
}
++counter;
printCUDAError();
glutSwapBuffers();
}