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>
91 writePose(
const std::string &filename_pose,
const Eigen::Vector3f &teVecs,
const Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats)
const;
94 int screenshot_counter;
97 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.
Input/output pixel format for KinfuTracker.