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#include "SMReconstructionWorker.h"
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#include "SMReconstructionWorker.h"
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#include "AlgorithmGrayCode.h"
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#include "AlgorithmGrayCode.h"
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#include "AlgorithmGrayCodeHQ.h"
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#include "AlgorithmGrayCodeHorzVert.h"
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#include "AlgorithmPhaseShift.h"
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#include "AlgorithmPhaseShift.h"
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#include <QCoreApplication>
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#include <QCoreApplication>
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#include <QSettings>
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#include <QSettings>
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    int resY = settings.value("projector/resY").toInt();
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    int resY = settings.value("projector/resY").toInt();
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    QString codec = settings.value("algorithm", "GrayCode").toString();
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    QString codec = settings.value("algorithm", "GrayCode").toString();
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    if(codec == "GrayCode")
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    if(codec == "GrayCode")
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        algorithm = new AlgorithmGrayCode(resX, resY);
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        algorithm = new AlgorithmGrayCode(resX, resY);
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    else if(codec == "GrayCodeHQ")
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    else if(codec == "GrayCodeHQ")
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        algorithm = new AlgorithmGrayCodeHQ(resX, resY);
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        algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);
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    else if(codec == "PhaseShift")
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    else if(codec == "PhaseShift")
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        algorithm = new AlgorithmPhaseShift(resX, resY);
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        algorithm = new AlgorithmPhaseShift(resX, resY);
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    else
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    else
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        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;
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        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;
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void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){
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void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){
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    time.start();
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    time.start();
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    // Decompress frames
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    int nFrames = frameSequence.compressedFrames0.size();
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    std::vector<cv::Mat> frames0(nFrames), frames1(nFrames);
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    for(int i=0; i<nFrames; i++){
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        cv::imdecode(frameSequence.compressedFrames0[i], frames0[i]);
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        cv::imdecode(frameSequence.compressedFrames1[i], frames1[i]);
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    }
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    // Get 3D Points
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    // Get 3D Points
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    std::vector<cv::Point3f> Q;
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    std::vector<cv::Point3f> Q;
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    std::vector<cv::Vec3b> color;
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    std::vector<cv::Vec3b> color;
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    algorithm->get3DPoints(calibration, frameSequence.frames0, frameSequence.frames1, Q, color);
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    algorithm->get3DPoints(calibration, frames0, frames1, Q, color);
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    // Convert point cloud to PCL format
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    // Convert point cloud to PCL format
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    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGB>);
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    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(new pcl::PointCloud<pcl::PointXYZRGB>);
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    pointCloudPCL->width = Q.size();
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    pointCloudPCL->width = Q.size();