MeshUpdateThread.hpp

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/*
 * MeshUpdateThread.hpp
 *
 *  Created on: Jan 29, 2016
 *      Author: twiemann
 */

#ifndef EXT_KINTINUOUS_QT_APP_MESHUPDATETHREAD_HPP_
#define EXT_KINTINUOUS_QT_APP_MESHUPDATETHREAD_HPP_

#include <kfusion/kinfu.hpp>
#include <QThread>

#include <vtkSmartPointer.h>
#include <vtkActor.h>

class MeshUpdateThread : public QThread
{
        Q_OBJECT
Q_SIGNALS:
        void meshUpdate(vtkActor* actor);

public:
        MeshUpdateThread(kfusion::KinFu::Ptr kinfu);
        virtual ~MeshUpdateThread();



//private:
        typedef lvr::HalfEdgeVertex<cVertex, lvr::Normal<float> >* VertexPtr;

        void run();
        void computeMeshActor(HMesh* meshbuffer);

        kfusion::KinFu::Ptr                                             m_kinfu;
        unordered_map<VertexPtr, size_t>                        m_indexMap;
    vtkActor*                                                                   m_meshActor;
    vtkSmartPointer<vtkActor>                           m_wireframeActor;

    vector<float>                                                               m_vertices;
    vector<int>                                                                 m_faces;
};

#endif /* EXT_KINTINUOUS_QT_APP_MESHUPDATETHREAD_HPP_ */