39 #include <pcl/gpu/containers/kernel_containers.h>
40 #include <pcl/gpu/kinfu/kinfu.h>
53 using Ptr = pcl::shared_ptr<Evaluation>;
54 using ConstPtr = pcl::shared_ptr<const Evaluation>;
90 std::vector< std::pair<double, std::string> > rgb_stamps_and_filenames_;
91 std::vector< std::pair<double, std::string> > depth_stamps_and_filenames_;
96 std::string name1, name2;
99 std::vector< Association > accociations_;
101 void readFile(
const std::string& file, std::vector< std::pair<double, std::string> >& output);
104 std::shared_ptr<Impl> impl_;
class for RGB-D SLAM Dataset and Benchmark
bool grab(double stamp, pcl::gpu::PtrStepSz< const RGB > &rgb24)
Reads rgb frame from the folder
pcl::shared_ptr< Evaluation > Ptr
bool grab(double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth)
Reads depth frame from the folder.
bool grab(double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth, pcl::gpu::PtrStepSz< const RGB > &rgb24)
Reads depth & rgb frame from the folder.
void setMatchFile(const std::string &file)
Sets file with matches between depth and rgb.
pcl::shared_ptr< const Evaluation > ConstPtr
void saveAllPoses(const pcl::gpu::KinfuTracker &kinfu, int frame_number=-1, const std::string &logfile="kinfu_poses.txt") const
Evaluation(const std::string &folder)
KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm.
pcl::gpu::PixelRGB PixelRGB
Pixel type for rendered image.
Defines functions, macros and traits for allocating and using memory.
Input/output pixel format for KinfuTracker.