C++ (Cpp) KinfuTracker::getImage Examples

Example #1

File: kinfuLS.cpp Project: srmanikandasriram/kinfu

  void
  publishScene (KinfuTracker& kinfu, std_msgs::Header header, bool registration, Eigen::Affine3f* pose_ptr = 0)
  {
//    if (pose_ptr)
//    {
//        raycaster_ptr_->run ( kinfu.volume (), *pose_ptr, kinfu.getCyclicalBufferStructure () ); //says in cmake it does not know it
//        raycaster_ptr_->generateSceneView(view_device_);
//    }
//    else
    {
      kinfu.getImage (view_device_);
    }

 /*   if (paint_image_ && registration && !pose_ptr)
    {
      colors_device_.upload (rgb24.data, rgb24.step, rgb24.rows, rgb24.cols);
      paint3DView (colors_device_, view_device_);
    }
*/
    int cols;
    view_device_.download (view_host_, cols);

    //convert image to sensor message
    sensor_msgs::ImagePtr msg(new sensor_msgs::Image);
    sensor_msgs::fillImage((*msg), "rgb8", view_device_.rows(), view_device_.cols(),
    		view_device_.cols() * 3, &view_host_[0]);

    msg->header.frame_id = header.frame_id;
    pubKinfu.publish(msg);
  }

Example #2

File: kinfu_app_sim.cpp Project: AlexSchwank/pcl

  void
  showScene (KinfuTracker& kinfu, const PtrStepSz<const KinfuTracker::PixelRGB>& rgb24, bool registration, Eigen::Affine3f* pose_ptr = 0)
  {
    if (pose_ptr)
    {
        raycaster_ptr_->run(kinfu.volume(), *pose_ptr);
        raycaster_ptr_->generateSceneView(view_device_);
    }
    else
      kinfu.getImage (view_device_);

    if (paint_image_ && registration && !pose_ptr)
    {
      colors_device_.upload (rgb24.data, rgb24.step, rgb24.rows, rgb24.cols);
      paint3DView (colors_device_, view_device_);
    }

    int cols;
    view_device_.download (view_host_, cols);
    viewerScene_.showRGBImage (reinterpret_cast<unsigned char*> (&view_host_[0]), view_device_.cols (), view_device_.rows ());

    //viewerColor_.showRGBImage ((unsigned char*)&rgb24.data, rgb24.cols, rgb24.rows);

#ifdef HAVE_OPENCV
    if (accumulate_views_)
    {
      views_.push_back (cv::Mat ());
      cv::cvtColor (cv::Mat (480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back (), CV_RGB2GRAY);
      //cv::copy(cv::Mat(480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back());
    }
#endif
  }

Example #3

File: kinfu_viz_tools.cpp Project: adamwtow/JAMESapc

void ImageView::showScene (KinfuTracker& kinfu, bool registration, Eigen::Affine3f* pose_ptr)
  {
    if (pose_ptr)
    {
        raycaster_ptr_->run(kinfu.volume(), *pose_ptr);
        raycaster_ptr_->generateSceneView(view_device_);
    }
    else
      kinfu.getImage (view_device_);

    int cols;
    view_device_.download (view_host_, cols);
    if (viz_)
        viewerScene_->showRGBImage (reinterpret_cast<unsigned char*> (&view_host_[0]), view_device_.cols (), view_device_.rows ());

    //viewerColor_.showRGBImage ((unsigned char*)&rgb24.data, rgb24.cols, rgb24.rows);

    if (accumulate_views_)
    {
      views_.push_back (cv::Mat ());
      cv::cvtColor (cv::Mat (480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back (), CV_RGB2GRAY);
      //cv::copy(cv::Mat(480, 640, CV_8UC3, (void*)&view_host_[0]), views_.back());
    }

  }