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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* 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
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#pragma once
#include <pcl/gpu/containers/kernel_containers.h>
#include <pcl/gpu/kinfu_large_scale/kinfu.h>
#include <pcl/memory.h>
#include <memory>
#include <string>
/** \brief class for RGB-D SLAM Dataset and Benchmark
* \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
class Evaluation
{
public:
using Ptr = pcl::shared_ptr<Evaluation>;
using ConstPtr = pcl::shared_ptr<const Evaluation>;
using RGB = pcl::gpu::kinfuLS::PixelRGB;
Evaluation(const std::string& folder);
/** \brief Sets file with matches between depth and rgb */
void setMatchFile(const std::string& file);
/** \brief Reads rgb frame from the folder
* \param stamp index of frame to read (stamps are not implemented)
* \param rgb24
*/
bool grab (double stamp, pcl::gpu::PtrStepSz<const RGB>& rgb24);
/** \brief Reads depth frame from the folder
* \param stamp index of frame to read (stamps are not implemented)
* \param depth
*/
bool grab (double stamp, pcl::gpu::PtrStepSz<const unsigned short>& depth);
/** \brief Reads depth & rgb frame from the folder. Before calling this folder please call 'setMatchFile', or an error will be returned otherwise.
* \param stamp index of associated frame pair (stamps are not implemented)
* \param depth
* \param rgb24
*/
bool grab (double stamp, pcl::gpu::PtrStepSz<const unsigned short>& depth, pcl::gpu::PtrStepSz<const RGB>& rgb24);
const static float fx, fy, cx, cy;
void saveAllPoses(const pcl::gpu::kinfuLS::KinfuTracker& kinfu, int frame_number = -1, const std::string& logfile = "kinfu_poses.txt") const;
private:
std::string folder_;
bool visualization_;
std::vector< std::pair<double, std::string> > rgb_stamps_and_filenames_;
std::vector< std::pair<double, std::string> > depth_stamps_and_filenames_;
struct Association
{
double time1, time2;
std::string name1, name2;
};
std::vector< Association > accociations_;
void readFile(const std::string& file, std::vector< std::pair<double, std::string> >& output);
struct Impl;
std::shared_ptr<Impl> impl_;
};
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