offline_integration.h

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#ifndef PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H
#define PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H

#include <vector>
#include <string>

#include <pcl/pcl_exports.h>
#include <pcl/common/time.h>
#include <pcl/apps/in_hand_scanner/common_types.h>
#include <pcl/apps/in_hand_scanner/boost.h>
#include <pcl/apps/in_hand_scanner/eigen.h>
#include <pcl/apps/in_hand_scanner/opengl_viewer.h>

// Forward declarations

namespace pcl
{
  template <class PointInT, class PointOutT>
  class IntegralImageNormalEstimation;

  namespace ihs
  {
    class Integration;
  } // End namespace ihs
} // End namespace pcl

// OfflineIntegration

namespace pcl
{
  namespace ihs
  {
    class PCL_EXPORTS OfflineIntegration : public pcl::ihs::OpenGLViewer
    {
      Q_OBJECT

      public:

        typedef pcl::ihs::OpenGLViewer       Base;
        typedef pcl::ihs::OfflineIntegration Self;

        explicit OfflineIntegration (Base* parent=0);

        ~OfflineIntegration ();

      public slots:

        void
        start ();

      private slots:

        void
        computationThread ();

      private:

        typedef pcl::PointXYZRGBA              PointXYZRGBA;
        typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;
        typedef CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;
        typedef CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;

        typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
        typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
        typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
        typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;

        typedef pcl::ihs::Mesh         Mesh;
        typedef pcl::ihs::MeshPtr      MeshPtr;
        typedef pcl::ihs::MeshConstPtr MeshConstPtr;

        typedef pcl::ihs::Integration                 Integration;
        typedef boost::shared_ptr <Integration>       IntegrationPtr;
        typedef boost::shared_ptr <const Integration> IntegrationConstPtr;

        typedef pcl::IntegralImageNormalEstimation <PointXYZRGBA, PointXYZRGBNormal> NormalEstimation;
        typedef boost::shared_ptr <NormalEstimation>                                 NormalEstimationPtr;
        typedef boost::shared_ptr <const NormalEstimation>                           NormalEstimationConstPtr;

        class ComputationFPS : public Base::FPS
        {
          public:
            ComputationFPS () : Base::FPS () {}
            ~ComputationFPS () {}
        };


        class VisualizationFPS : public Base::FPS
        {
          public:
            VisualizationFPS () : Base::FPS () {}
            ~VisualizationFPS () {}
        };

        bool
        getFilesFromDirectory (const std::string          path_dir,
                               const std::string          extension,
                               std::vector <std::string>& files) const;

        bool
        loadTransform (const std::string& filename,
                       Eigen::Matrix4f&   transform) const;

        bool
        load (const std::string&    filename,
              CloudXYZRGBNormalPtr& cloud,
              Eigen::Matrix4f&      T) const;

        void
        paintEvent (QPaintEvent* event);

        void
        keyPressEvent (QKeyEvent* event);

        // Members

        boost::mutex mutex_;

        boost::mutex mutex_quit_;

        ComputationFPS computation_fps_;

        VisualizationFPS visualization_fps_;

        std::string path_dir_;

        MeshPtr mesh_model_;

        NormalEstimationPtr normal_estimation_;

        IntegrationPtr integration_;

        bool destructor_called_;

      public:

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  } // End namespace ihs
} // End namespace pcl

#endif // PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H