40 #include <boost/shared_ptr.hpp> 41 #include <pcl/gpu/containers/kernel_containers.h> 42 #include <pcl/gpu/kinfu/kinfu.h> 51 typedef boost::shared_ptr<Evaluation>
Ptr;
87 std::vector< std::pair<double, std::string> > rgb_stamps_and_filenames_;
88 std::vector< std::pair<double, std::string> > depth_stamps_and_filenames_;
93 std::string name1, name2;
96 std::vector< Association > accociations_;
98 void readFile(
const std::string& file, std::vector< std::pair<double, std::string> >& output);
101 boost::shared_ptr<Impl> impl_;
void saveAllPoses(const pcl::gpu::KinfuTracker &kinfu, int frame_number=-1, const std::string &logfile="kinfu_poses.txt") const
void setMatchFile(const std::string &file)
Sets file with matches between depth and rgb.
boost::shared_ptr< Evaluation > Ptr
bool grab(double stamp, pcl::gpu::PtrStepSz< const RGB > &rgb24)
Reads rgb frame from the folder.
Input/output pixel format for KinfuTracker.
pcl::gpu::KinfuTracker::PixelRGB RGB
KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm.
class for RGB-D SLAM Dataset and Benchmark
Evaluation(const std::string &folder)