LVRPipeline.cpp

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/*
 * LVRPipeline.cpp
 *
 *  @date 13.11.2015
 *  @author Tristan Igelbrink (Tristan@Igelbrink.com)
 */

#include <kfusion/LVRPipeline.hpp>

using namespace lvr;

namespace kfusion
{
        LVRPipeline::LVRPipeline(KinFuParams params) : slice_count_(0)
        {
                meshPtr_ = new HMesh();
                meshPtr_->setQuiet(!params.cmd_options->verbose());
                omp_set_num_threads(omp_get_num_procs());

                // Adding the single processing stages to the pipeline
                pl_.AddStage(
                        boost::shared_ptr<GridStage>(new GridStage((double)(params.volume_size[0] / params.volume_dims[0]), params.cmd_options))
                        );
                pl_.AddStage(
                        boost::shared_ptr<MeshStage>(new MeshStage(params.distance_camera_target, (double)(params.volume_size[0] / params.volume_dims[0]), params.cmd_options))
                        );
                if(params.cmd_options->optimizePlanes())
                {
                        pl_.AddStage(
                                boost::shared_ptr<OptimizeStage>(new OptimizeStage(params.cmd_options))
                                );
                }
                pl_.AddStage(
                        boost::shared_ptr<FusionStage>(new FusionStage(meshPtr_, params.cmd_options))
                        );

                pl_.Start();
        }

        LVRPipeline::~LVRPipeline()
        {
                pl_.join();
                delete meshPtr_;
        }

        void LVRPipeline::resetMesh()
        {
                //TODO implement mesh reset
        }

        void LVRPipeline::addTSDFSlice(TSDFSlice slice, const bool last_shift)
        {

                pair<TSDFSlice, bool> workload(slice, last_shift);
                pl_.AddWork(workload);
                slice_count_++;
        }

        double LVRPipeline::calcTimeStats()
        {
                return std::accumulate(timeStats_.begin(), timeStats_.end(), 0.0) / timeStats_.size();
        }

}