GridStage.hpp

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     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
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */
/*
 * GridStage.hpp
 *
 *  @date 13.11.2015
 *  @author Tristan Igelbrink (Tristan@Igelbrink.com)
 */
 
#ifndef GRIDSTAGE_HPP__
#define GRIDSTAGE_HPP__
 
#include "AbstractStage.hpp"
#include "BlockingQueue.hpp"
#include <boost/any.hpp>
#include <lvr/reconstruction/FastReconstruction.hpp>
#include <lvr/reconstruction/TSDFGrid.hpp>
#include <lvr/reconstruction/PointsetSurface.hpp>
#include <lvr/reconstruction/FastKinFuBox.hpp>
#include <lvr/io/PointBuffer.hpp>
#include <lvr/io/DataStruct.hpp>
#include <lvr/geometry/HalfEdgeVertex.hpp>
#include <lvr/geometry/HalfEdgeKinFuMesh.hpp>
#include <lvr/geometry/BoundingBox.hpp>
#include <kfusion/types.hpp>
#include <kfusion/cuda/tsdf_volume.hpp>
#include <kfusion/cuda/projective_icp.hpp>
 
using namespace lvr;
using namespace kfusion;
using namespace std;
 
typedef Vertex<float>  fVertex;
typedef ColorVertex<float, unsigned char> cVertex;
typedef FastKinFuBox<ColorVertex<float, unsigned char>, lvr::Normal<float> > cFastBox;
typedef TsdfGrid<cVertex, cFastBox, kfusion::Point> TGrid;
typedef FastReconstruction<ColorVertex<float, unsigned char>, lvr::Normal<float>, cFastBox > cFastReconstruction;
typedef HalfEdgeKinFuMesh<cVertex, lvr::Normal<float> > HMesh;
typedef HMesh* MeshPtr;
 
class GridStage : public AbstractStage
{
public:
 
        // default constructor
        GridStage(double voxel_size = 3.0/512.0, Options* options = NULL);
 
        void firstStep();
        void step();
        void lastStep();
 
private:
        size_t grid_count_;
        BoundingBox<cVertex> bbox_;
        double voxel_size_;
        queue<TGrid*> last_grid_queue_;
        bool last_shift;
};
#endif // STAGE