offline_integration.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Point Cloud Library (PCL) - www.pointclouds.org
00005  * Copyright (c) 2009-2012, Willow Garage, Inc.
00006  * Copyright (c) 2012-, Open Perception, Inc.
00007  *
00008  * All rights reserved.
00009  *
00010  * Redistribution and use in source and binary forms, with or without
00011  * modification, are permitted provided that the following conditions
00012  * are met:
00013  *
00014  *  * Redistributions of source code must retain the above copyright
00015  *    notice, this list of conditions and the following disclaimer.
00016  *  * Redistributions in binary form must reproduce the above
00017  *    copyright notice, this list of conditions and the following
00018  *    disclaimer in the documentation and/or other materials provided
00019  *    with the distribution.
00020  *  * Neither the name of the copyright holder(s) nor the names of its
00021  *    contributors may be used to endorse or promote products derived
00022  *    from this software without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00027  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00033  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00034  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035  * POSSIBILITY OF SUCH DAMAGE.
00036  *
00037  * $Id$
00038  *
00039  */
00040 
00041 #ifndef PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H
00042 #define PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H
00043 
00044 #include <vector>
00045 #include <string>
00046 
00047 #include <pcl/pcl_exports.h>
00048 #include <pcl/common/time.h>
00049 #include <pcl/apps/in_hand_scanner/common_types.h>
00050 #include <pcl/apps/in_hand_scanner/boost.h>
00051 #include <pcl/apps/in_hand_scanner/eigen.h>
00052 #include <pcl/apps/in_hand_scanner/opengl_viewer.h>
00053 
00055 // Forward declarations
00057 
00058 namespace pcl
00059 {
00060   template <class PointInT, class PointOutT>
00061   class IntegralImageNormalEstimation;
00062 
00063   namespace ihs
00064   {
00065     class Integration;
00066   } // End namespace ihs
00067 } // End namespace pcl
00068 
00070 // OfflineIntegration
00072 
00073 namespace pcl
00074 {
00075   namespace ihs
00076   {
00080     class PCL_EXPORTS OfflineIntegration : public pcl::ihs::OpenGLViewer
00081     {
00082       Q_OBJECT
00083 
00084       public:
00085 
00086         typedef pcl::ihs::OpenGLViewer       Base;
00087         typedef pcl::ihs::OfflineIntegration Self;
00088 
00090         explicit OfflineIntegration (Base* parent=0);
00091 
00093         ~OfflineIntegration ();
00094 
00095       public slots:
00096 
00098         void
00099         start ();
00100 
00101       private slots:
00102 
00104         void
00105         computationThread ();
00106 
00107       private:
00108 
00109         typedef pcl::PointXYZRGBA              PointXYZRGBA;
00110         typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;
00111         typedef CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;
00112         typedef CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;
00113 
00114         typedef pcl::PointXYZRGBNormal              PointXYZRGBNormal;
00115         typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
00116         typedef CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;
00117         typedef CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;
00118 
00119         typedef pcl::ihs::Mesh         Mesh;
00120         typedef pcl::ihs::MeshPtr      MeshPtr;
00121         typedef pcl::ihs::MeshConstPtr MeshConstPtr;
00122 
00123         typedef pcl::ihs::Integration                 Integration;
00124         typedef boost::shared_ptr <Integration>       IntegrationPtr;
00125         typedef boost::shared_ptr <const Integration> IntegrationConstPtr;
00126 
00127         typedef pcl::IntegralImageNormalEstimation <PointXYZRGBA, PointXYZRGBNormal> NormalEstimation;
00128         typedef boost::shared_ptr <NormalEstimation>                                 NormalEstimationPtr;
00129         typedef boost::shared_ptr <const NormalEstimation>                           NormalEstimationConstPtr;
00130 
00132         class ComputationFPS : public Base::FPS
00133         {
00134           public:
00135             ComputationFPS () : Base::FPS () {}
00136             ~ComputationFPS () {}
00137         };
00138 
00139 
00141         class VisualizationFPS : public Base::FPS
00142         {
00143           public:
00144             VisualizationFPS () : Base::FPS () {}
00145             ~VisualizationFPS () {}
00146         };
00147 
00154         bool
00155         getFilesFromDirectory (const std::string          path_dir,
00156                                const std::string          extension,
00157                                std::vector <std::string>& files) const;
00158 
00164         bool
00165         loadTransform (const std::string& filename,
00166                        Eigen::Matrix4f&   transform) const;
00167 
00174         bool
00175         load (const std::string&    filename,
00176               CloudXYZRGBNormalPtr& cloud,
00177               Eigen::Matrix4f&      T) const;
00178 
00182         void
00183         paintEvent (QPaintEvent* event);
00184 
00186         void
00187         keyPressEvent (QKeyEvent* event);
00188 
00190         // Members
00192 
00194         boost::mutex mutex_;
00195 
00197         boost::mutex mutex_quit_;
00198 
00200         ComputationFPS computation_fps_;
00201 
00203         VisualizationFPS visualization_fps_;
00204 
00206         std::string path_dir_;
00207 
00209         MeshPtr mesh_model_;
00210 
00212         NormalEstimationPtr normal_estimation_;
00213 
00215         IntegrationPtr integration_;
00216 
00218         bool destructor_called_;
00219 
00220       public:
00221 
00222         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00223     };
00224   } // End namespace ihs
00225 } // End namespace pcl
00226 
00227 #endif // PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H


ros_in_hand_scanner
Author(s):
autogenerated on Thu Jun 6 2019 20:39:38