VirtualSensor.h

#pragma once
#include "Sensor.h"
#include "FeaturePointExtractor.h"
#include <pcl/io/pcd_io.h>

class VirtualSensor : public Sensor {
public:

	explicit VirtualSensor(const std::string& filenamePcd, const std::string& filenameFeaturePoints) : Sensor() {
		// load point cloud from file
		if (pcl::io::loadPCDFile<pcl::PointXYZRGB>(filenamePcd, *m_cloud) == -1) {
			std::cerr << "Couldn't read the pcd file " << filenamePcd << std::endl;
			exit(-1);
		}

		// load feature points from file
		FeaturePointExtractor inputFeatureExtractor(filenameFeaturePoints, m_cloud);
		m_featurePoints = inputFeatureExtractor.m_points;

		// Use image width as a dirty workaround to infer the correct intrinsics from the input.
		if (m_cloud->width == 640) {
			// kinect
			m_cameraIntrinsics <<
				583.2829786373293, 0.0, 320.0,
				0.0, 579.4112549695428, 240.0,
				0.0, 0.0, 1.0;
		}
		else {
			// constants from the test RGBD dataset
			m_cameraIntrinsics <<
				1052.667867276341, 0, 962.4130834944134,
				0, 1052.020917785721, 536.2206151001486,
				0, 0, 1;

			// since we care about the depth image and it is half the resolution of the color image,
			// we need to adjust the intrinsics accordingly
			m_cameraIntrinsics.topRows(2) /= 2;
		}


	};

};