Point Cloud Library (PCL) 1.12.1
screenshot_manager.h
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36 * Author: Francisco, Technical University Eindhoven, (f.j.mysurname.soriano <At > tue.nl)
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38
39#pragma once
40
41#include <iostream>
42#include <fstream>
43#include <cstdio>
44#include <Eigen/Core>
45#include <Eigen/Geometry>
46
47#include <pcl/pcl_exports.h>
48#include <pcl/gpu/containers/device_array.h>
49#include <pcl/gpu/containers/kernel_containers.h>
50#include <pcl/gpu/kinfu_large_scale/pixel_rgb.h>
51#include <boost/filesystem.hpp>
52//#include <boost/graph/buffer_concepts.hpp>
53
54#include <pcl/io/png_io.h>
55
56#include <pcl/console/print.h>
57
58
59namespace pcl
60{
61 namespace kinfuLS
62 {
63 /** \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.
64 * \author Francisco Heredia
65 */
67 {
68 public:
69
71
72 /** Constructor */
74
75 /** Destructor */
77
78 /** \brief Sets Depth camera intrinsics
79 * \param[in] focal focal length x
80 * \param height
81 * \param width
82 */
83 void
84 setCameraIntrinsics (float focal = 575.816f, float height = 480.0f, float width = 640.0f);
85
86 /**Save Screenshot*/
87 void
88 saveImage(const Eigen::Affine3f &camPose, pcl::gpu::PtrStepSz<const PixelRGB> rgb24);
89
90 private:
91
92 /**Write camera pose to file*/
93 void
94 writePose(const std::string &filename_pose, const Eigen::Vector3f &teVecs, const Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats) const;
95
96 /**Counter of the number of screenshots taken*/
97 int screenshot_counter;
98
99 /** \brief Intrinsic parameters of depth camera. */
100 float focal_, height_, width_;
101 };
102 }
103}
Screenshot Manager saves a screenshot with the corresponding camera pose from Kinfu.
void saveImage(const Eigen::Affine3f &camPose, pcl::gpu::PtrStepSz< const PixelRGB > rgb24)
Save Screenshot.
void setCameraIntrinsics(float focal=575.816f, float height=480.0f, float width=640.0f)
Sets Depth camera intrinsics.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
Input/output pixel format for KinfuTracker.
Definition: pixel_rgb.h:51