/*cv::Mat depth_input_host;
    depth_input_host.create(depth.rows(), depth.cols(), CV_32FC1);
    depth.download(depth_input_host.ptr<void>(), depth_input_host.step);
    std::string depth_input_n = std::string("E:/GitCodes/Data/KinfuTest/depth_input.txt");
    //std::ofstream myfile_depth_filter;
    //myfile_depth_filter.open(depth_filter_n.c_str());
    //myfile_depth_filter << cv::format(depth_filter_host, cv::Formatter::FMT_CSV) << std::endl;
    std::ofstream myfile_depth_raw(depth_input_n, ios::out);
    for (int i = 0; i < depth.rows(); i++) {
        for (int j = 0; j < depth.cols(); j++) {
            myfile_depth_raw << depth_input_host.at<float>(i, j) << std::endl;
        }
    }
    myfile_depth_raw.close();*/    

    //lph，debug，检查距离计算
    /*cv::Mat dist_host;
    dist_host.create(dists_.rows(), dists_.cols(), CV_32FC1);
    dists_.download(dist_host.ptr<void>(), dist_host.step);
    std::string fn_dist = std::string("E:/GitCodes/Data/KinfuTest/dist.csv");
    std::ofstream myfile_dist;
    myfile_dist.open(fn_dist.c_str());
    myfile_dist << cv::format(dist_host, cv::Formatter::FMT_CSV) << std::endl;
    myfile_dist.close();*/

    /*cv::Mat depth_filter_host;
    depth_filter_host.create(curr_.depth_pyr[0].rows(), curr_.depth_pyr[0].cols(), CV_32FC1);
    curr_.depth_pyr[0].download(depth_filter_host.ptr<void>(), depth_filter_host.step);
    std::string depth_filter_n = std::string("E:/GitCodes/Data/KinfuTest/depth_filter.txt");
    //std::ofstream myfile_depth_filter;
    //myfile_depth_filter.open(depth_filter_n.c_str());
    //myfile_depth_filter << cv::format(depth_filter_host, cv::Formatter::FMT_CSV) << std::endl;
    std::ofstream myfile_depth_filter(depth_filter_n, ios::out);   
    for (int i=0; i< curr_.depth_pyr[0].rows(); i++){
        for (int j = 0; j < curr_.depth_pyr[0].cols(); j++) {
            myfile_depth_filter << depth_filter_host.at<float>(i, j) << std::endl;
        }
    }
    myfile_depth_filter.close();      */ 

/*
    if (global_counter == 0) {
        cv::Mat points_host;
        points_host.create(prev_.points_pyr[0].rows(), prev_.points_pyr[0].cols(), CV_32FC4);
        prev_.points_pyr[0].download(points_host.ptr<void>(), points_host.step);
        std::string fn1 = std::string("E:/GitCodes/Data/KinfuTest/prev_cloud.asc");
        std::ofstream myfile1(fn1, ios::out);
        for (int i = 0; i < prev_.points_pyr[0].rows(); i++) {
            for (int j = 0; j < prev_.points_pyr[0].cols(); j++) {
                myfile1 << points_host.at<cv::Vec3f>(i, j)[0] << " ";
                myfile1 << points_host.at<cv::Vec3f>(i, j)[1] << " ";
                myfile1 << points_host.at<cv::Vec3f>(i, j)[2] << " ";
                myfile1 << std::endl;
            }
        }
        printf("%s", "end of file\n");
        myfile1.close();
    }   */