45 #include <Eigen/Geometry>
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>
54 #include <pcl/io/png_io.h>
56 #include <pcl/console/print.h>
94 writePose(
const std::string &filename_pose,
const Eigen::Vector3f &teVecs,
const Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats)
const;
97 int screenshot_counter;
100 float focal_, height_, width_;
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.
ScreenshotManager()
Constructor.
~ScreenshotManager()
Destructor.
Input/output pixel format for KinfuTracker.