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/*
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 *
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 MVTracker - Multi View Tracking for Pose Estimation
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 (c) 2014 Jakob Wilm, DTU, Kgs.Lyngby, Denmark
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 *
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*/
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#ifndef SMCaptureWorker_H
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#ifndef SMCaptureWorker_H
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#define SMCaptureWorker_H
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#define SMCaptureWorker_H
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#include "SMTypes.h"
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#include "SMTypes.h"
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#include "ProjectorOpenGL.h"
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#include "ProjectorOpenGL.h"
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#include "Camera.h"
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#include "Camera.h"
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#include "RotationStage.h"
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#include "RotationStage.h"
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#include <QObject>
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#include <QObject>
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#include <opencv2/opencv.hpp>
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#include <opencv2/opencv.hpp>
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enum mode {
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enum mode {
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    modeIdle,
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    modeIdle,
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    modeCalibrationSet,
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    modeCalibrationSet,
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    modeFrameSequence
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    modeFrameSequence
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};
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};
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class SMCaptureWorker : public QObject{
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class SMCaptureWorker : public QObject{
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    Q_OBJECT
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    Q_OBJECT
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    public:
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    public:
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        SMCaptureWorker(){}
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        SMCaptureWorker(){}
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        ~SMCaptureWorker();
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        ~SMCaptureWorker();
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    public slots:
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    public slots:
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        void setup();
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        void setup();
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        void doWork();
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        void doWork();
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        void rotateTo(float angle);
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        void rotateTo(float angle);
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        void acquireCalibrationSet(float angle);
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        void acquireCalibrationSet(float angle);
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        void acquireCalibrationSets(std::vector<float> angles);
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        void acquireCalibrationSets(std::vector<float> angles);
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        void acquireFrameSequence(float angle);
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        void acquireFrameSequence(float angle);
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        void acquireFrameSequences(std::vector<float> angles);
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        void acquireFrameSequences(std::vector<float> angles);
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        void abort();
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        void abort();
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        void stopWork();
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        void stopWork();
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    signals:
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    signals:
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        void newFrame(unsigned int camID, cv::Mat frame);
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        void newFrame(unsigned int camID, cv::Mat frame);
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        void newCalibrationSet(CalibrationSet frameSet);
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        void newCalibrationSet(CalibrationSet frameSet);
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        void newFrameSequence(FrameSequence frameSequence);
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        void newFrameSequence(FrameSequence frameSequence);
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        void busy();
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        void busy();
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        void done();
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        void done();
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        void finished();
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        void finished();
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    private:
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    private:
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        bool working;
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        bool working;
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        Projector* projector;
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        Projector* projector;
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        Camera* camera0;
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        Camera* camera0;
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        Camera* camera1;
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        Camera* camera1;
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        RotationStage* rotationStage;
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        RotationStage* rotationStage;
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};
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};
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#endif // SMCaptureWorker_H
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#endif // SMCaptureWorker_H
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