offline_integration.h
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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


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:26:20