Point Cloud Library (PCL)
1.11.0
kinfu_large_scale
include
pcl
gpu
kinfu_large_scale
screenshot_manager.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: Francisco, Technical University Eindhoven, (f.j.mysurname.soriano <At > tue.nl)
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*/
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#pragma once
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#include <iostream>
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#include <fstream>
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#include <cstdio>
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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#include <pcl/pcl_exports.h>
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#include <pcl/gpu/containers/device_array.h>
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#include <pcl/gpu/containers/kernel_containers.h>
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#include <pcl/gpu/kinfu_large_scale/pixel_rgb.h>
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#include <boost/filesystem.hpp>
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//#include <boost/graph/buffer_concepts.hpp>
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#include <pcl/io/png_io.h>
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#include <pcl/console/print.h>
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namespace
pcl
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{
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namespace
kinfuLS
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{
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/** \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.
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* \author Francisco Heredia
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*/
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class
PCL_EXPORTS
ScreenshotManager
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{
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public
:
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using
PixelRGB
=
pcl::gpu::kinfuLS::PixelRGB
;
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/** Constructor */
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ScreenshotManager
();
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/** Destructor */
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~ScreenshotManager
(){}
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/** \brief Sets Depth camera intrinsics
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* \param[in] focal focal length x
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* \param height
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* \param width
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*/
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void
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setCameraIntrinsics
(
float
focal = 575.816f,
float
height = 480.0f,
float
width = 640.0f);
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/**Save Screenshot*/
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void
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saveImage
(
const
Eigen::Affine3f &camPose,
pcl::gpu::PtrStepSz<const PixelRGB>
rgb24);
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private
:
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/**Write camera pose to file*/
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void
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writePose(
const
std::string &filename_pose,
const
Eigen::Vector3f &teVecs,
const
Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats)
const
;
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/**Counter of the number of screenshots taken*/
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int
screenshot_counter;
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/** \brief Intrinsic parameters of depth camera. */
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float
focal_, height_, width_;
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};
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}
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}
pcl
Definition:
convolution.h:46
pcl::kinfuLS::ScreenshotManager::~ScreenshotManager
~ScreenshotManager()
Destructor.
Definition:
screenshot_manager.h:76
pcl::gpu::kinfuLS::PixelRGB
Input/output pixel format for KinfuTracker.
Definition:
pixel_rgb.h:51
pcl::kinfuLS::ScreenshotManager::ScreenshotManager
ScreenshotManager()
Constructor.
pcl::kinfuLS::ScreenshotManager::setCameraIntrinsics
void setCameraIntrinsics(float focal=575.816f, float height=480.0f, float width=640.0f)
Sets Depth camera intrinsics.
pcl::gpu::PtrStepSz
Definition:
kernel_containers.h:90
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_EXPORTS
#define PCL_EXPORTS
Definition:
pcl_macros.h:331