GridStage.hpp

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/*
 * 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