Fixed registration mode and color integration when passing pcd files for pcl_kinfu_app #1018
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| @@ -703,8 +703,6 @@ struct KinFuApp | |||
| { | |||
| registration_ = capture_.providesCallback<pcl::ONIGrabber::sig_cb_openni_image_depth_image> (); | |||
| cout << "Registration mode: " << (registration_ ? "On" : "Off (not supported by source)") << endl; | |||
| if (registration_) | |||
| kinfu_.setDepthIntrinsics(KINFU_DEFAULT_RGB_FOCAL_X, KINFU_DEFAULT_RGB_FOCAL_Y); | |||
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Probably shouldn't. Readded it.
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Dec 14, 2014
Fixed registration mode and color integration when passing pcd files for pcl_kinfu_app
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Previous to this fix when using registration mode with the -pcd flag in pcl_kinfu_app, the View3D from ray tracing window would be entirely black. Work largely ported from kinfu_large_scale.