camera_pose.h

/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2014-, Open Perception, Inc.
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 *     notice, this list of conditions and the following disclaimer.
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 *     with the distribution.
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 *     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
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 *
 *  Author: Marco Paladini <marco.paladini@ocado.com>
 *  Date: March 2014
 */
 
#pragma once
 
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <fstream>
 
#include <pcl/memory.h>
 
/**
 * @brief The CameraPoseProcessor class is an interface to extract
 * camera pose data generated by the pcl_kinfu_app program.
 * Use the CameraPoseWriter implementation if writing the camera
 * pose to a file is all you need, or provide an alternative implementation.
 */
class CameraPoseProcessor
{
  public:
    using Ptr = pcl::shared_ptr<CameraPoseProcessor>;
    using ConstPtr = pcl::shared_ptr<const CameraPoseProcessor>;
 
    virtual ~CameraPoseProcessor () = default;
 
    /// process the camera pose, this method is called at every frame.
    virtual void
    processPose (const Eigen::Affine3f &pose)=0;
};
 
/**
 * @brief CameraPoseWriter writes all camera poses computed by
 * the KinfuTracker to a file on disk.
 *
 */
class CameraPoseWriter : public CameraPoseProcessor
{
  std::string output_filename_;
  std::ofstream out_stream_;
  public:
    /**
       * @param output_filename name of file to write
       */
    CameraPoseWriter (const std::string &output_filename) :
      output_filename_ (output_filename)
    {
      out_stream_.open (output_filename_.c_str () );
    }
 
    ~CameraPoseWriter ()
    {
      if (out_stream_.is_open ())
      {
        out_stream_.close ();
        std::cout << "wrote camera poses to file " << output_filename_ << std::endl;
      }
    }
 
    void
    processPose (const Eigen::Affine3f &pose) override
    {
      if (out_stream_.good ())
      {
        // convert 3x4 affine transformation to quaternion and write to file
        Eigen::Quaternionf q (pose.rotation ());
        Eigen::Vector3f t (pose.translation ());
        // write translation , quaternion in a row
        out_stream_ << t[0] << "," << t[1] << "," << t[2]
                    << "," << q.w () << "," << q.x ()
                    << "," << q.y ()<< ","  << q.z () << std::endl;
      }
    }
 
};