screenshot_manager.h

/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 *     notice, this list of conditions and the following disclaimer.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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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 <pcl/io/png_io.h>
 
#include <pcl/common/pcl_filesystem.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();
 
          /** \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_;
    };
  }
}