Point Cloud Library (PCL)  1.12.0
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 
59 namespace 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