FusionStage.hpp

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/*
 * FusionStage.hpp
 *
 *  @date 13.11.2015
 *  @author Tristan Igelbrink (Tristan@Igelbrink.com)
 */

#ifndef FusionStage_HPP__
#define FusionStage_HPP__

#include "AbstractStage.hpp"
#include "BlockingQueue.hpp"
#include <list>
#include <boost/any.hpp>
#include <lvr/reconstruction/PointsetSurface.hpp>
#include <lvr/io/PointBuffer.hpp>
#include <lvr/io/DataStruct.hpp>
#include <lvr/io/Timestamp.hpp>
#include <lvr/geometry/HalfEdgeVertex.hpp>
#include <lvr/geometry/HalfEdgeKinFuMesh.hpp>
#include <lvr/geometry/BoundingBox.hpp>
#include <kfusion/types.hpp>


using namespace lvr;
using namespace kfusion;
using namespace std;

typedef Vertex<float>  fVertex;
typedef ColorVertex<float, unsigned char> cVertex;
typedef HalfEdgeKinFuMesh<cVertex, lvr::Normal<float> > HMesh;
typedef HMesh* MeshPtr;


class FusionStage : public AbstractStage
{
public:

        // default constructor
        FusionStage(MeshPtr mesh, Options* options);

        virtual void firstStep();
        virtual void step();
        virtual void lastStep();

private:

        Options* options_;
        size_t mesh_count_;
        MeshPtr mesh_;
};
#endif // STAGE