MainWindow.hpp

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/*
 * MainWindow.hpp
 *
 *  Created on: Jan 26, 2016
 *      Author: twiemann
 */

#ifndef EXT_KINTINUOUS_QT_APP_MAINWINDOW_HPP_
#define EXT_KINTINUOUS_QT_APP_MAINWINDOW_HPP_

#include <QtGui>

#include "../kfusion/include/kfusion/kinfu.hpp"
#include <io/capture.hpp>

#include "KinfuMainWindow.h"
#include "MeshUpdateThread.hpp"

#include <vtkSmartPointer.h>
#include <vtkActor.h>
#include <vtkActorCollection.h>
#include <vtkCommand.h>
#include <vtkRenderer.h>
#include <vtkRendererCollection.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkViewport.h>
#include <vtkObjectFactory.h>
#include <vtkGraphicsFactory.h>
#include <vtkOrientationMarkerWidget.h>
#include <vtkAxesActor.h>

/*
 *
 */
class MainWindow : public QMainWindow, public Ui::MainWindow
{
        Q_OBJECT
public:
        MainWindow(QMainWindow* parent = 0);
        virtual ~MainWindow();

public Q_SLOTS:
        void pollGPUData();
        void finalizeMesh();
        void updateMesh(vtkActor*);

private:
        void setupVTK();

        OpenNISource*                                                           m_openNISource;
        kfusion::KinFu::Ptr                                                     m_kinfu;
        QTimer*                                                                         m_timer;
        cuda::Image                                                             m_viewImage;
        cuda::Depth                                                             m_depth_device;
        cv::Mat                                                                         m_deviceImg;

    vtkSmartPointer<vtkRenderer>                m_renderer;
    vtkSmartPointer<vtkRenderWindowInteractor>  m_renderWindowInteractor;
    vtkSmartPointer<vtkOrientationMarkerWidget> m_axesWidget;
    vtkSmartPointer<vtkAxesActor>                               m_axes;
    vtkActor*                                                                   m_meshActor;

    MeshUpdateThread*                                                   m_meshThread;
    vector<Affine3f> sample_poses_;
};

#endif /* EXT_KINTINUOUS_QT_APP_MAINWINDOW_HPP_ */