message: added computePointCloud in sensorData
diff: @@ -1437,10 +1437,18 @@ namespace ml {
  }
  #endif //_FREEIMAGEWRAPPER_H_
  +
  + //! compute frame(s) point cloud
  + PointCloudf computePointCloud(unsigned int frameFrom, unsigned int frameTo = -1) const {
  +
  + }
  +
  //! save frame(s) to point cloud
  void saveToPointCloud(const std::string& filename, unsigned int frameFrom, unsigned int frameTo = -1) const {
  +
  + PointCloudf pc = computePointCloud(frameFrom, frameTo);
  if (frameTo == (unsigned int)-1) frameTo = frameFrom + 1;
  - PointCloudf pc;
  +
  const mat4f intrinsicInv = m_calibrationDepth.m_intrinsic.getInverse();
  for (unsigned int frame = frameFrom; frame < frameTo; frame++) {
  