MeshStage.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.
 *
 */
/*
 * MeshStage.hpp
 *
 *  @date 13.11.2015
 *  @author Tristan Igelbrink (Tristan@Igelbrink.com)
 */
 
#ifndef MeshStage_HPP__
#define MeshStage_HPP__
 
#include <list>
#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 <lvr/geometry/Matrix4.hpp>
 
#include <kfusion/types.hpp>
#include <opencv2/flann/flann.hpp>
 
 
using namespace lvr;
using namespace std;
using namespace kfusion;
 
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 MeshStage : public AbstractStage
{
public:
 
        // default constructor
        MeshStage(double camera_target_distance, double voxel_size, Options* options);
 
        virtual void firstStep();
        virtual void step();
        virtual void lastStep();
 
private:
        void transformMeshBack(MeshPtr mesh);
 
        queue<MeshPtr> last_mesh_queue_;
        double camera_target_distance_;
        double voxel_size_;
        size_t mesh_count_, fusion_count_;
        Options* options_;
        bool slice_correction_;
        lvr::Matrix4f global_correction_;
};
#endif // STAGE