MeshStage.hpp

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

#ifndef MeshStage_HPP__
#define MeshStage_HPP__

#include <list>
#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 <lvr/geometry/Matrix4.hpp>

#include <kfusion/types.hpp>
#include <opencv2/flann/flann.hpp>


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

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 MeshStage : public AbstractStage
{
public:

        // default constructor
        MeshStage(double camera_target_distance, double voxel_size, Options* options);

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

private:
        void transformMeshBack(MeshPtr mesh);

        queue<MeshPtr> last_mesh_queue_;
        double camera_target_distance_;
        double voxel_size_;
        size_t mesh_count_, fusion_count_;
        Options* options_;
        bool slice_correction_;
        lvr::Matrix4f global_correction_;
};
#endif // STAGE