OptimizeStage.cpp

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

#include <kfusion/OptimizeStage.hpp>

// default constructor
OptimizeStage::OptimizeStage(Options* options) : AbstractStage()
        ,mesh_count_(0), options_(options), bounding_counter(0),texture_counter(0),pic_count_(0)
{
         optiMesh_ = NULL;
        timestamp.setQuiet(!options_->verbose());
}

void OptimizeStage::firstStep() { }

void OptimizeStage::step()
{
        auto mesh_work = boost::any_cast<pair<pair<MeshPtr, bool>, vector<kfusion::ImgPose*> > >(getInQueue()->Take());
        bool last_shift = mesh_work.first.second;
        MeshPtr act_mesh = mesh_work.first.first;
        string mesh_notice = ("#### C:            Mesh Optimization " +  to_string(mesh_count_) + "    ####");
        ScopeTime* opti_time = new ScopeTime(mesh_notice.c_str());
        act_mesh->fillHoles(options_->getFillHoles());
        if(optiMesh_ == NULL)
                optiMesh_ = act_mesh;
        else
                optiMesh_->addMesh(act_mesh, options_->textures());
    std::vector<kfusion::ImgPose*> image_poses_buffer = mesh_work.second;
        //std::cout << "Loaded " << image_poses_buffer.size() << " Images. " << std::endl;
        // Set recursion depth for region growing
        if(options_->getDepth())
        {
                optiMesh_->setDepth(options_->getDepth());
        }
        optiMesh_->setClassifier(options_->getClassifier());
        optiMesh_->optimizePlanes(options_->getPlaneIterations(),
                                        options_->getNormalThreshold(),
                                        options_->getMinPlaneSize(),
                                        options_->getSmallRegionThreshold(), false);
        MeshPtr tmp_pointer = optiMesh_->retesselateInHalfEdge(options_->getLineFusionThreshold(), options_->textures(), texture_counter);
        if(tmp_pointer == NULL)
                return;
        optiMesh_->restorePlanes(options_->getMinPlaneSize());
        delete opti_time;
        mesh_count_++;

        if(options_->textures())
        {
                int counter=0;
                int i;
                int progress = 0, j;


                for(i=0;i<image_poses_buffer.size();i++){
                        counter = tmp_pointer->projectAndMapNewImage(*(image_poses_buffer[i]));
                }

                pic_count_+=i;

                texture_counter += tmp_pointer->textures.size();

                meshBufferPtr = tmp_pointer->meshBuffer();

        }
        image_poses_buffer.resize(0);
        getOutQueue()->Add(pair<pair<MeshPtr, bool>, vector<ImgPose*> >(
                                pair<MeshPtr, bool>(tmp_pointer, last_shift), mesh_work.second));
        if(last_shift)
                done(true);
}
void OptimizeStage::lastStep()
{
         delete optiMesh_;
}