LVRPipeline.hpp

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#ifndef LVR2_PIPELINE_HPP_
#define LVR2_PIPELINE_HPP_

#include <lvr/reconstruction/FastReconstruction.hpp>
#include <lvr/reconstruction/TSDFGrid.hpp>
#include <lvr/reconstruction/PointsetSurface.hpp>
#include <lvr/reconstruction/FastBox.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>
#include <kfusion/cuda/tsdf_volume.hpp>
#include <kfusion/cuda/projective_icp.hpp>
#include <kfusion/LinearPipeline.hpp>
#include <kfusion/GridStage.hpp>
#include <kfusion/MeshStage.hpp>
#include <kfusion/OptimizeStage.hpp>
#include <kfusion/FusionStage.hpp>


using namespace lvr;

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

namespace kfusion
{
    class LVRPipeline
    {
                public:

                        LVRPipeline(KinFuParams params);

                        ~LVRPipeline();

                        void addTSDFSlice(TSDFSlice slice,  const bool last_shift);

                        void resetMesh();

                        MeshPtr getMesh() {return pl_.GetResult();}

                        double calcTimeStats();

                private:

                    MeshPtr meshPtr_;
                    size_t slice_count_;
                        std::vector<double> timeStats_;
                        LinearPipeline<pair<TSDFSlice, bool> , MeshPtr> pl_;

    };
}
#endif