Point Cloud Library (PCL) 1.13.0
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evaluation.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Willow Garage, Inc.
5 * All rights reserved.
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13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Willow Garage, Inc. nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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33 *
34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35 */
36
37#pragma once
38
39#include <pcl/gpu/containers/kernel_containers.h>
40#include <pcl/gpu/kinfu_large_scale/kinfu.h>
41
42#include <pcl/memory.h>
43
44#include <memory>
45#include <string>
46
47/** \brief class for RGB-D SLAM Dataset and Benchmark
48 * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
49 */
50class Evaluation
51{
52public:
53 using Ptr = pcl::shared_ptr<Evaluation>;
54 using ConstPtr = pcl::shared_ptr<const Evaluation>;
56
57 Evaluation(const std::string& folder);
58
59 /** \brief Sets file with matches between depth and rgb */
60 void setMatchFile(const std::string& file);
61
62 /** \brief Reads rgb frame from the folder
63 * \param stamp index of frame to read (stamps are not implemented)
64 * \param rgb24
65 */
66 bool grab (double stamp, pcl::gpu::PtrStepSz<const RGB>& rgb24);
67
68 /** \brief Reads depth frame from the folder
69 * \param stamp index of frame to read (stamps are not implemented)
70 * \param depth
71 */
73
74 /** \brief Reads depth & rgb frame from the folder. Before calling this folder please call 'setMatchFile', or an error will be returned otherwise.
75 * \param stamp index of accociated frame pair (stamps are not implemented)
76 * \param depth
77 * \param rgb24
78 */
80
81 const static float fx, fy, cx, cy;
82
83
84 void saveAllPoses(const pcl::gpu::kinfuLS::KinfuTracker& kinfu, int frame_number = -1, const std::string& logfile = "kinfu_poses.txt") const;
85
86private:
87 std::string folder_;
88 bool visualization_;
89
90 std::vector< std::pair<double, std::string> > rgb_stamps_and_filenames_;
91 std::vector< std::pair<double, std::string> > depth_stamps_and_filenames_;
92
93 struct Association
94 {
95 double time1, time2;
96 std::string name1, name2;
97 };
98
99 std::vector< Association > accociations_;
100
101 void readFile(const std::string& file, std::vector< std::pair<double, std::string> >& output);
102
103 struct Impl;
104 std::shared_ptr<Impl> impl_;
105};
106
class for RGB-D SLAM Dataset and Benchmark
Definition evaluation.h:51
static const float cy
Definition evaluation.h:81
bool grab(double stamp, pcl::gpu::PtrStepSz< const RGB > &rgb24)
Reads rgb frame from the folder
pcl::shared_ptr< Evaluation > Ptr
Definition evaluation.h:53
static const float fx
Definition evaluation.h:81
bool grab(double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth)
Reads depth frame from the folder.
static const float cx
Definition evaluation.h:81
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
Definition evaluation.h:54
static const float fy
Definition evaluation.h:81
void saveAllPoses(const pcl::gpu::kinfuLS::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.
Definition kinfu.h:72
Defines functions, macros and traits for allocating and using memory.
Input/output pixel format for KinfuTracker.
Definition pixel_rgb.h:47
Input/output pixel format for KinfuTracker.
Definition pixel_rgb.h:51