screenshot_manager.h
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* Author: Francisco, Technical University Eindhoven, (f.j.mysurname.soriano <At > tue.nl)
*/
#pragma once
#include <iostream>
#include <fstream>
#include <cstdio>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <pcl/pcl_exports.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/containers/kernel_containers.h>
#include <pcl/gpu/kinfu_large_scale/pixel_rgb.h>
#include <boost/filesystem.hpp>
//#include <boost/graph/buffer_concepts.hpp>
#include <pcl/io/png_io.h>
#include <pcl/console/print.h>
namespace pcl
{
namespace kinfuLS
{
/** \brief Screenshot Manager saves a screenshot with the corresponding camera pose from Kinfu. Please create a folder named "KinFuSnapshots" in the folder where you call kinfu.
* \author Francisco Heredia
*/
class PCL_EXPORTS ScreenshotManager
{
public:
using PixelRGB = pcl::gpu::kinfuLS::PixelRGB;
/** Constructor */
ScreenshotManager();
/** Destructor */
~ScreenshotManager(){}
/** \brief Sets Depth camera intrinsics
* \param[in] focal focal length x
* \param height
* \param width
*/
void
setCameraIntrinsics (float focal = 575.816f, float height = 480.0f, float width = 640.0f);
/**Save Screenshot*/
void
saveImage(const Eigen::Affine3f &camPose, pcl::gpu::PtrStepSz<const PixelRGB> rgb24);
private:
/**Write camera pose to file*/
void
writePose(const std::string &filename_pose, const Eigen::Vector3f &teVecs, const Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats) const;
/**Counter of the number of screenshots taken*/
int screenshot_counter;
/** \brief Intrinsic parameters of depth camera. */
float focal_, height_, width_;
};
}
}
pcl::kinfuLS::ScreenshotManager
Screenshot Manager saves a screenshot with the corresponding camera pose from Kinfu.
Definition: screenshot_manager.h:67
pcl::kinfuLS::ScreenshotManager::saveImage
void saveImage(const Eigen::Affine3f &camPose, pcl::gpu::PtrStepSz< const PixelRGB > rgb24)
Save Screenshot.
pcl::kinfuLS::ScreenshotManager::setCameraIntrinsics
void setCameraIntrinsics(float focal=575.816f, float height=480.0f, float width=640.0f)
Sets Depth camera intrinsics.
pcl::kinfuLS::ScreenshotManager::ScreenshotManager
ScreenshotManager()
Constructor.
pcl::kinfuLS::ScreenshotManager::~ScreenshotManager
~ScreenshotManager()
Destructor.
Definition: screenshot_manager.h:76
pcl
Definition: convolution.h:46
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323
pcl::gpu::PtrStepSz
Definition: kernel_containers.h:122
pcl::gpu::kinfuLS::PixelRGB
Input/output pixel format for KinfuTracker.
Definition: pixel_rgb.h:51